lib/main/MAVLink/common/mavlink_msg_v2_extension.h

   1 #pragma once
   2 // MESSAGE V2_EXTENSION PACKING
   3
   4 #define MAVLINK_MSG_ID_V2_EXTENSION 248
   5
   6
   7 typedef struct __mavlink_v2_extension_t {
   8  uint16_t message_type; /*<  A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.*/
   9  uint8_t target_network; /*<  Network ID (0 for broadcast)*/
  10  uint8_t target_system; /*<  System ID (0 for broadcast)*/
  11  uint8_t target_component; /*<  Component ID (0 for broadcast)*/
  12  uint8_t payload[249]; /*<  Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.*/
  13 } mavlink_v2_extension_t;
  14
  15 #define MAVLINK_MSG_ID_V2_EXTENSION_LEN 254
  16 #define MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN 254
  17 #define MAVLINK_MSG_ID_248_LEN 254
  18 #define MAVLINK_MSG_ID_248_MIN_LEN 254
  19
  20 #define MAVLINK_MSG_ID_V2_EXTENSION_CRC 8
  21 #define MAVLINK_MSG_ID_248_CRC 8
  22
  23 #define MAVLINK_MSG_V2_EXTENSION_FIELD_PAYLOAD_LEN 249
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \
  27     248, \
  28     "V2_EXTENSION", \
  29     5, \
  30     {  { "target_network", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \
  31          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \
  32          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \
  33          { "message_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \
  34          { "payload", NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \
  39     "V2_EXTENSION", \
  40     5, \
  41     {  { "target_network", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \
  42          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \
  43          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \
  44          { "message_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \
  45          { "payload", NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a v2_extension 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_network  Network ID (0 for broadcast)
  57  * @param target_system  System ID (0 for broadcast)
  58  * @param target_component  Component ID (0 for broadcast)
  59  * @param message_type  A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
  60  * @param payload  Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_v2_extension_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, const uint8_t *payload)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];
  68     _mav_put_uint16_t(buf, 0, message_type);
  69     _mav_put_uint8_t(buf, 2, target_network);
  70     _mav_put_uint8_t(buf, 3, target_system);
  71     _mav_put_uint8_t(buf, 4, target_component);
  72     _mav_put_uint8_t_array(buf, 5, payload, 249);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
  74 #else
  75     mavlink_v2_extension_t packet;
  76     packet.message_type = message_type;
  77     packet.target_network = target_network;
  78     packet.target_system = target_system;
  79     packet.target_component = target_component;
  80     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_V2_EXTENSION;
  85     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
  86 }
  87
  88 /**
  89  * @brief Pack a v2_extension 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_network  Network ID (0 for broadcast)
  95  * @param target_system  System ID (0 for broadcast)
  96  * @param target_component  Component ID (0 for broadcast)
  97  * @param message_type  A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
  98  * @param payload  Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_v2_extension_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                mavlink_message_t* msg,
 103                                    uint8_t target_network,uint8_t target_system,uint8_t target_component,uint16_t message_type,const uint8_t *payload)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106     char buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];
 107     _mav_put_uint16_t(buf, 0, message_type);
 108     _mav_put_uint8_t(buf, 2, target_network);
 109     _mav_put_uint8_t(buf, 3, target_system);
 110     _mav_put_uint8_t(buf, 4, target_component);
 111     _mav_put_uint8_t_array(buf, 5, payload, 249);
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
 113 #else
 114     mavlink_v2_extension_t packet;
 115     packet.message_type = message_type;
 116     packet.target_network = target_network;
 117     packet.target_system = target_system;
 118     packet.target_component = target_component;
 119     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
 121 #endif
 122
 123     msg->msgid = MAVLINK_MSG_ID_V2_EXTENSION;
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 125 }
 126
 127 /**
 128  * @brief Encode a v2_extension 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 v2_extension C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_v2_extension_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_v2_extension_t* v2_extension)
 136 {
 137     return mavlink_msg_v2_extension_pack(system_id, component_id, msg, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
 138 }
 139
 140 /**
 141  * @brief Encode a v2_extension 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 v2_extension C-struct to read the message contents from
 148  */
 149 static inline uint16_t mavlink_msg_v2_extension_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_v2_extension_t* v2_extension)
 150 {
 151     return mavlink_msg_v2_extension_pack_chan(system_id, component_id, chan, msg, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
 152 }
 153
 154 /**
 155  * @brief Send a v2_extension message
 156  * @param chan MAVLink channel to send the message
 157  *
 158  * @param target_network  Network ID (0 for broadcast)
 159  * @param target_system  System ID (0 for broadcast)
 160  * @param target_component  Component ID (0 for broadcast)
 161  * @param message_type  A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
 162  * @param payload  Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
 163  */
 164 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 165
 166 static inline void mavlink_msg_v2_extension_send(mavlink_channel_t chan, uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, const uint8_t *payload)
 167 {
 168 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 169     char buf[MAVLINK_MSG_ID_V2_EXTENSION_LEN];
 170     _mav_put_uint16_t(buf, 0, message_type);
 171     _mav_put_uint8_t(buf, 2, target_network);
 172     _mav_put_uint8_t(buf, 3, target_system);
 173     _mav_put_uint8_t(buf, 4, target_component);
 174     _mav_put_uint8_t_array(buf, 5, payload, 249);
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 176 #else
 177     mavlink_v2_extension_t packet;
 178     packet.message_type = message_type;
 179     packet.target_network = target_network;
 180     packet.target_system = target_system;
 181     packet.target_component = target_component;
 182     mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)&packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Send a v2_extension 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_v2_extension_send_struct(mavlink_channel_t chan, const mavlink_v2_extension_t* v2_extension)
 193 {
 194 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195     mavlink_msg_v2_extension_send(chan, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)v2_extension, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 198 #endif
 199 }
 200
 201 #if MAVLINK_MSG_ID_V2_EXTENSION_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_v2_extension_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, 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, message_type);
 214     _mav_put_uint8_t(buf, 2, target_network);
 215     _mav_put_uint8_t(buf, 3, target_system);
 216     _mav_put_uint8_t(buf, 4, target_component);
 217     _mav_put_uint8_t_array(buf, 5, payload, 249);
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 219 #else
 220     mavlink_v2_extension_t *packet = (mavlink_v2_extension_t *)msgbuf;
 221     packet->message_type = message_type;
 222     packet->target_network = target_network;
 223     packet->target_system = target_system;
 224     packet->target_component = target_component;
 225     mav_array_memcpy(packet->payload, payload, sizeof(uint8_t)*249);
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
 227 #endif
 228 }
 229 #endif
 230
 231 #endif
 232
 233 // MESSAGE V2_EXTENSION UNPACKING
 234
 235
 236 /**
 237  * @brief Get field target_network from v2_extension message
 238  *
 239  * @return  Network ID (0 for broadcast)
 240  */
 241 static inline uint8_t mavlink_msg_v2_extension_get_target_network(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_uint8_t(msg,  2);
 244 }
 245
 246 /**
 247  * @brief Get field target_system from v2_extension message
 248  *
 249  * @return  System ID (0 for broadcast)
 250  */
 251 static inline uint8_t mavlink_msg_v2_extension_get_target_system(const mavlink_message_t* msg)
 252 {
 253     return _MAV_RETURN_uint8_t(msg,  3);
 254 }
 255
 256 /**
 257  * @brief Get field target_component from v2_extension message
 258  *
 259  * @return  Component ID (0 for broadcast)
 260  */
 261 static inline uint8_t mavlink_msg_v2_extension_get_target_component(const mavlink_message_t* msg)
 262 {
 263     return _MAV_RETURN_uint8_t(msg,  4);
 264 }
 265
 266 /**
 267  * @brief Get field message_type from v2_extension message
 268  *
 269  * @return  A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
 270  */
 271 static inline uint16_t mavlink_msg_v2_extension_get_message_type(const mavlink_message_t* msg)
 272 {
 273     return _MAV_RETURN_uint16_t(msg,  0);
 274 }
 275
 276 /**
 277  * @brief Get field payload from v2_extension message
 278  *
 279  * @return  Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
 280  */
 281 static inline uint16_t mavlink_msg_v2_extension_get_payload(const mavlink_message_t* msg, uint8_t *payload)
 282 {
 283     return _MAV_RETURN_uint8_t_array(msg, payload, 249,  5);
 284 }
 285
 286 /**
 287  * @brief Decode a v2_extension message into a struct
 288  *
 289  * @param msg The message to decode
 290  * @param v2_extension C-struct to decode the message contents into
 291  */
 292 static inline void mavlink_msg_v2_extension_decode(const mavlink_message_t* msg, mavlink_v2_extension_t* v2_extension)
 293 {
 294 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 295     v2_extension->message_type = mavlink_msg_v2_extension_get_message_type(msg);
 296     v2_extension->target_network = mavlink_msg_v2_extension_get_target_network(msg);
 297     v2_extension->target_system = mavlink_msg_v2_extension_get_target_system(msg);
 298     v2_extension->target_component = mavlink_msg_v2_extension_get_target_component(msg);
 299     mavlink_msg_v2_extension_get_payload(msg, v2_extension->payload);
 300 #else
 301         uint8_t len = msg->len < MAVLINK_MSG_ID_V2_EXTENSION_LEN? msg->len : MAVLINK_MSG_ID_V2_EXTENSION_LEN;
 302         memset(v2_extension, 0, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
 303     memcpy(v2_extension, _MAV_PAYLOAD(msg), len);
 304 #endif
 305 }