lib/main/MAVLink/common/mavlink_msg_tunnel.h

   1 #pragma once
   2 // MESSAGE TUNNEL PACKING
   3
   4 #define MAVLINK_MSG_ID_TUNNEL 385
   5
   6
   7 typedef struct __mavlink_tunnel_t {
   8  uint16_t payload_type; /*<  A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.*/
   9  uint8_t target_system; /*<  System ID (can be 0 for broadcast, but this is discouraged)*/
  10  uint8_t target_component; /*<  Component ID (can be 0 for broadcast, but this is discouraged)*/
  11  uint8_t payload_length; /*<  Length of the data transported in payload*/
  12  uint8_t payload[128]; /*<  Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.*/
  13 } mavlink_tunnel_t;
  14
  15 #define MAVLINK_MSG_ID_TUNNEL_LEN 133
  16 #define MAVLINK_MSG_ID_TUNNEL_MIN_LEN 133
  17 #define MAVLINK_MSG_ID_385_LEN 133
  18 #define MAVLINK_MSG_ID_385_MIN_LEN 133
  19
  20 #define MAVLINK_MSG_ID_TUNNEL_CRC 147
  21 #define MAVLINK_MSG_ID_385_CRC 147
  22
  23 #define MAVLINK_MSG_TUNNEL_FIELD_PAYLOAD_LEN 128
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_TUNNEL { \
  27     385, \
  28     "TUNNEL", \
  29     5, \
  30     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_tunnel_t, target_system) }, \
  31          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_tunnel_t, target_component) }, \
  32          { "payload_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_tunnel_t, payload_type) }, \
  33          { "payload_length", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_tunnel_t, payload_length) }, \
  34          { "payload", NULL, MAVLINK_TYPE_UINT8_T, 128, 5, offsetof(mavlink_tunnel_t, payload) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_TUNNEL { \
  39     "TUNNEL", \
  40     5, \
  41     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_tunnel_t, target_system) }, \
  42          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_tunnel_t, target_component) }, \
  43          { "payload_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_tunnel_t, payload_type) }, \
  44          { "payload_length", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_tunnel_t, payload_length) }, \
  45          { "payload", NULL, MAVLINK_TYPE_UINT8_T, 128, 5, offsetof(mavlink_tunnel_t, payload) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a tunnel message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param target_system  System ID (can be 0 for broadcast, but this is discouraged)
  57  * @param target_component  Component ID (can be 0 for broadcast, but this is discouraged)
  58  * @param payload_type  A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
  59  * @param payload_length  Length of the data transported in payload
  60  * @param payload  Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_tunnel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
  68     _mav_put_uint16_t(buf, 0, payload_type);
  69     _mav_put_uint8_t(buf, 2, target_system);
  70     _mav_put_uint8_t(buf, 3, target_component);
  71     _mav_put_uint8_t(buf, 4, payload_length);
  72     _mav_put_uint8_t_array(buf, 5, payload, 128);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TUNNEL_LEN);
  74 #else
  75     mavlink_tunnel_t packet;
  76     packet.payload_type = payload_type;
  77     packet.target_system = target_system;
  78     packet.target_component = target_component;
  79     packet.payload_length = payload_length;
  80     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TUNNEL_LEN);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_TUNNEL;
  85     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
  86 }
  87
  88 /**
  89  * @brief Pack a tunnel message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param target_system  System ID (can be 0 for broadcast, but this is discouraged)
  95  * @param target_component  Component ID (can be 0 for broadcast, but this is discouraged)
  96  * @param payload_type  A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
  97  * @param payload_length  Length of the data transported in payload
  98  * @param payload  Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_tunnel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                mavlink_message_t* msg,
 103                                    uint8_t target_system,uint8_t target_component,uint16_t payload_type,uint8_t payload_length,const uint8_t *payload)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106     char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
 107     _mav_put_uint16_t(buf, 0, payload_type);
 108     _mav_put_uint8_t(buf, 2, target_system);
 109     _mav_put_uint8_t(buf, 3, target_component);
 110     _mav_put_uint8_t(buf, 4, payload_length);
 111     _mav_put_uint8_t_array(buf, 5, payload, 128);
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TUNNEL_LEN);
 113 #else
 114     mavlink_tunnel_t packet;
 115     packet.payload_type = payload_type;
 116     packet.target_system = target_system;
 117     packet.target_component = target_component;
 118     packet.payload_length = payload_length;
 119     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TUNNEL_LEN);
 121 #endif
 122
 123     msg->msgid = MAVLINK_MSG_ID_TUNNEL;
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 125 }
 126
 127 /**
 128  * @brief Encode a tunnel struct
 129  *
 130  * @param system_id ID of this system
 131  * @param component_id ID of this component (e.g. 200 for IMU)
 132  * @param msg The MAVLink message to compress the data into
 133  * @param tunnel C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_tunnel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_tunnel_t* tunnel)
 136 {
 137     return mavlink_msg_tunnel_pack(system_id, component_id, msg, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
 138 }
 139
 140 /**
 141  * @brief Encode a tunnel struct on a channel
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param chan The MAVLink channel this message will be sent over
 146  * @param msg The MAVLink message to compress the data into
 147  * @param tunnel C-struct to read the message contents from
 148  */
 149 static inline uint16_t mavlink_msg_tunnel_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_tunnel_t* tunnel)
 150 {
 151     return mavlink_msg_tunnel_pack_chan(system_id, component_id, chan, msg, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
 152 }
 153
 154 /**
 155  * @brief Send a tunnel message
 156  * @param chan MAVLink channel to send the message
 157  *
 158  * @param target_system  System ID (can be 0 for broadcast, but this is discouraged)
 159  * @param target_component  Component ID (can be 0 for broadcast, but this is discouraged)
 160  * @param payload_type  A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
 161  * @param payload_length  Length of the data transported in payload
 162  * @param payload  Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
 163  */
 164 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 165
 166 static inline void mavlink_msg_tunnel_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
 167 {
 168 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 169     char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
 170     _mav_put_uint16_t(buf, 0, payload_type);
 171     _mav_put_uint8_t(buf, 2, target_system);
 172     _mav_put_uint8_t(buf, 3, target_component);
 173     _mav_put_uint8_t(buf, 4, payload_length);
 174     _mav_put_uint8_t_array(buf, 5, payload, 128);
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, buf, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 176 #else
 177     mavlink_tunnel_t packet;
 178     packet.payload_type = payload_type;
 179     packet.target_system = target_system;
 180     packet.target_component = target_component;
 181     packet.payload_length = payload_length;
 182     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)&packet, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Send a tunnel message
 189  * @param chan MAVLink channel to send the message
 190  * @param struct The MAVLink struct to serialize
 191  */
 192 static inline void mavlink_msg_tunnel_send_struct(mavlink_channel_t chan, const mavlink_tunnel_t* tunnel)
 193 {
 194 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195     mavlink_msg_tunnel_send(chan, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)tunnel, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 198 #endif
 199 }
 200
 201 #if MAVLINK_MSG_ID_TUNNEL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 202 /*
 203   This varient of _send() can be used to save stack space by re-using
 204   memory from the receive buffer.  The caller provides a
 205   mavlink_message_t which is the size of a full mavlink message. This
 206   is usually the receive buffer for the channel, and allows a reply to an
 207   incoming message with minimum stack space usage.
 208  */
 209 static inline void mavlink_msg_tunnel_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
 210 {
 211 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 212     char *buf = (char *)msgbuf;
 213     _mav_put_uint16_t(buf, 0, payload_type);
 214     _mav_put_uint8_t(buf, 2, target_system);
 215     _mav_put_uint8_t(buf, 3, target_component);
 216     _mav_put_uint8_t(buf, 4, payload_length);
 217     _mav_put_uint8_t_array(buf, 5, payload, 128);
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, buf, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 219 #else
 220     mavlink_tunnel_t *packet = (mavlink_tunnel_t *)msgbuf;
 221     packet->payload_type = payload_type;
 222     packet->target_system = target_system;
 223     packet->target_component = target_component;
 224     packet->payload_length = payload_length;
 225     mav_array_memcpy(packet->payload, payload, sizeof(uint8_t)*128);
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)packet, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
 227 #endif
 228 }
 229 #endif
 230
 231 #endif
 232
 233 // MESSAGE TUNNEL UNPACKING
 234
 235
 236 /**
 237  * @brief Get field target_system from tunnel message
 238  *
 239  * @return  System ID (can be 0 for broadcast, but this is discouraged)
 240  */
 241 static inline uint8_t mavlink_msg_tunnel_get_target_system(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_uint8_t(msg,  2);
 244 }
 245
 246 /**
 247  * @brief Get field target_component from tunnel message
 248  *
 249  * @return  Component ID (can be 0 for broadcast, but this is discouraged)
 250  */
 251 static inline uint8_t mavlink_msg_tunnel_get_target_component(const mavlink_message_t* msg)
 252 {
 253     return _MAV_RETURN_uint8_t(msg,  3);
 254 }
 255
 256 /**
 257  * @brief Get field payload_type from tunnel message
 258  *
 259  * @return  A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
 260  */
 261 static inline uint16_t mavlink_msg_tunnel_get_payload_type(const mavlink_message_t* msg)
 262 {
 263     return _MAV_RETURN_uint16_t(msg,  0);
 264 }
 265
 266 /**
 267  * @brief Get field payload_length from tunnel message
 268  *
 269  * @return  Length of the data transported in payload
 270  */
 271 static inline uint8_t mavlink_msg_tunnel_get_payload_length(const mavlink_message_t* msg)
 272 {
 273     return _MAV_RETURN_uint8_t(msg,  4);
 274 }
 275
 276 /**
 277  * @brief Get field payload from tunnel message
 278  *
 279  * @return  Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
 280  */
 281 static inline uint16_t mavlink_msg_tunnel_get_payload(const mavlink_message_t* msg, uint8_t *payload)
 282 {
 283     return _MAV_RETURN_uint8_t_array(msg, payload, 128,  5);
 284 }
 285
 286 /**
 287  * @brief Decode a tunnel message into a struct
 288  *
 289  * @param msg The message to decode
 290  * @param tunnel C-struct to decode the message contents into
 291  */
 292 static inline void mavlink_msg_tunnel_decode(const mavlink_message_t* msg, mavlink_tunnel_t* tunnel)
 293 {
 294 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 295     tunnel->payload_type = mavlink_msg_tunnel_get_payload_type(msg);
 296     tunnel->target_system = mavlink_msg_tunnel_get_target_system(msg);
 297     tunnel->target_component = mavlink_msg_tunnel_get_target_component(msg);
 298     tunnel->payload_length = mavlink_msg_tunnel_get_payload_length(msg);
 299     mavlink_msg_tunnel_get_payload(msg, tunnel->payload);
 300 #else
 301         uint8_t len = msg->len < MAVLINK_MSG_ID_TUNNEL_LEN? msg->len : MAVLINK_MSG_ID_TUNNEL_LEN;
 302         memset(tunnel, 0, MAVLINK_MSG_ID_TUNNEL_LEN);
 303     memcpy(tunnel, _MAV_PAYLOAD(msg), len);
 304 #endif
 305 }