lib/main/MAVLink/common/mavlink_msg_wheel_distance.h

   1 #pragma once
   2 // MESSAGE WHEEL_DISTANCE PACKING
   3
   4 #define MAVLINK_MSG_ID_WHEEL_DISTANCE 9000
   5
   6
   7 typedef struct __mavlink_wheel_distance_t {
   8  uint64_t time_usec; /*< [us] Timestamp (synced to UNIX time or since system boot).*/
   9  double distance[16]; /*< [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.*/
  10  uint8_t count; /*<  Number of wheels reported.*/
  11 } mavlink_wheel_distance_t;
  12
  13 #define MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN 137
  14 #define MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN 137
  15 #define MAVLINK_MSG_ID_9000_LEN 137
  16 #define MAVLINK_MSG_ID_9000_MIN_LEN 137
  17
  18 #define MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC 113
  19 #define MAVLINK_MSG_ID_9000_CRC 113
  20
  21 #define MAVLINK_MSG_WHEEL_DISTANCE_FIELD_DISTANCE_LEN 16
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_WHEEL_DISTANCE { \
  25     9000, \
  26     "WHEEL_DISTANCE", \
  27     3, \
  28     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wheel_distance_t, time_usec) }, \
  29          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 136, offsetof(mavlink_wheel_distance_t, count) }, \
  30          { "distance", NULL, MAVLINK_TYPE_DOUBLE, 16, 8, offsetof(mavlink_wheel_distance_t, distance) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_WHEEL_DISTANCE { \
  35     "WHEEL_DISTANCE", \
  36     3, \
  37     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wheel_distance_t, time_usec) }, \
  38          { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 136, offsetof(mavlink_wheel_distance_t, count) }, \
  39          { "distance", NULL, MAVLINK_TYPE_DOUBLE, 16, 8, offsetof(mavlink_wheel_distance_t, distance) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a wheel_distance message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
  51  * @param count  Number of wheels reported.
  52  * @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_wheel_distance_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                uint64_t time_usec, uint8_t count, const double *distance)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN];
  60     _mav_put_uint64_t(buf, 0, time_usec);
  61     _mav_put_uint8_t(buf, 136, count);
  62     _mav_put_double_array(buf, 8, distance, 16);
  63         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
  64 #else
  65     mavlink_wheel_distance_t packet;
  66     packet.time_usec = time_usec;
  67     packet.count = count;
  68     mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
  69         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
  70 #endif
  71
  72     msg->msgid = MAVLINK_MSG_ID_WHEEL_DISTANCE;
  73     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
  74 }
  75
  76 /**
  77  * @brief Pack a wheel_distance message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message will be sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
  83  * @param count  Number of wheels reported.
  84  * @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
  85  * @return length of the message in bytes (excluding serial stream start sign)
  86  */
  87 static inline uint16_t mavlink_msg_wheel_distance_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  88                                mavlink_message_t* msg,
  89                                    uint64_t time_usec,uint8_t count,const double *distance)
  90 {
  91 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  92     char buf[MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN];
  93     _mav_put_uint64_t(buf, 0, time_usec);
  94     _mav_put_uint8_t(buf, 136, count);
  95     _mav_put_double_array(buf, 8, distance, 16);
  96         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
  97 #else
  98     mavlink_wheel_distance_t packet;
  99     packet.time_usec = time_usec;
 100     packet.count = count;
 101     mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
 102         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
 103 #endif
 104
 105     msg->msgid = MAVLINK_MSG_ID_WHEEL_DISTANCE;
 106     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 107 }
 108
 109 /**
 110  * @brief Encode a wheel_distance struct
 111  *
 112  * @param system_id ID of this system
 113  * @param component_id ID of this component (e.g. 200 for IMU)
 114  * @param msg The MAVLink message to compress the data into
 115  * @param wheel_distance C-struct to read the message contents from
 116  */
 117 static inline uint16_t mavlink_msg_wheel_distance_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wheel_distance_t* wheel_distance)
 118 {
 119     return mavlink_msg_wheel_distance_pack(system_id, component_id, msg, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
 120 }
 121
 122 /**
 123  * @brief Encode a wheel_distance struct on a channel
 124  *
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param chan The MAVLink channel this message will be sent over
 128  * @param msg The MAVLink message to compress the data into
 129  * @param wheel_distance C-struct to read the message contents from
 130  */
 131 static inline uint16_t mavlink_msg_wheel_distance_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wheel_distance_t* wheel_distance)
 132 {
 133     return mavlink_msg_wheel_distance_pack_chan(system_id, component_id, chan, msg, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
 134 }
 135
 136 /**
 137  * @brief Send a wheel_distance message
 138  * @param chan MAVLink channel to send the message
 139  *
 140  * @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
 141  * @param count  Number of wheels reported.
 142  * @param distance [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
 143  */
 144 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 145
 146 static inline void mavlink_msg_wheel_distance_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t count, const double *distance)
 147 {
 148 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 149     char buf[MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN];
 150     _mav_put_uint64_t(buf, 0, time_usec);
 151     _mav_put_uint8_t(buf, 136, count);
 152     _mav_put_double_array(buf, 8, distance, 16);
 153     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 154 #else
 155     mavlink_wheel_distance_t packet;
 156     packet.time_usec = time_usec;
 157     packet.count = count;
 158     mav_array_memcpy(packet.distance, distance, sizeof(double)*16);
 159     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)&packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 160 #endif
 161 }
 162
 163 /**
 164  * @brief Send a wheel_distance message
 165  * @param chan MAVLink channel to send the message
 166  * @param struct The MAVLink struct to serialize
 167  */
 168 static inline void mavlink_msg_wheel_distance_send_struct(mavlink_channel_t chan, const mavlink_wheel_distance_t* wheel_distance)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171     mavlink_msg_wheel_distance_send(chan, wheel_distance->time_usec, wheel_distance->count, wheel_distance->distance);
 172 #else
 173     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)wheel_distance, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 174 #endif
 175 }
 176
 177 #if MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 178 /*
 179   This varient of _send() can be used to save stack space by re-using
 180   memory from the receive buffer.  The caller provides a
 181   mavlink_message_t which is the size of a full mavlink message. This
 182   is usually the receive buffer for the channel, and allows a reply to an
 183   incoming message with minimum stack space usage.
 184  */
 185 static inline void mavlink_msg_wheel_distance_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t count, const double *distance)
 186 {
 187 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 188     char *buf = (char *)msgbuf;
 189     _mav_put_uint64_t(buf, 0, time_usec);
 190     _mav_put_uint8_t(buf, 136, count);
 191     _mav_put_double_array(buf, 8, distance, 16);
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, buf, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 193 #else
 194     mavlink_wheel_distance_t *packet = (mavlink_wheel_distance_t *)msgbuf;
 195     packet->time_usec = time_usec;
 196     packet->count = count;
 197     mav_array_memcpy(packet->distance, distance, sizeof(double)*16);
 198     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WHEEL_DISTANCE, (const char *)packet, MAVLINK_MSG_ID_WHEEL_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN, MAVLINK_MSG_ID_WHEEL_DISTANCE_CRC);
 199 #endif
 200 }
 201 #endif
 202
 203 #endif
 204
 205 // MESSAGE WHEEL_DISTANCE UNPACKING
 206
 207
 208 /**
 209  * @brief Get field time_usec from wheel_distance message
 210  *
 211  * @return [us] Timestamp (synced to UNIX time or since system boot).
 212  */
 213 static inline uint64_t mavlink_msg_wheel_distance_get_time_usec(const mavlink_message_t* msg)
 214 {
 215     return _MAV_RETURN_uint64_t(msg,  0);
 216 }
 217
 218 /**
 219  * @brief Get field count from wheel_distance message
 220  *
 221  * @return  Number of wheels reported.
 222  */
 223 static inline uint8_t mavlink_msg_wheel_distance_get_count(const mavlink_message_t* msg)
 224 {
 225     return _MAV_RETURN_uint8_t(msg,  136);
 226 }
 227
 228 /**
 229  * @brief Get field distance from wheel_distance message
 230  *
 231  * @return [m] Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
 232  */
 233 static inline uint16_t mavlink_msg_wheel_distance_get_distance(const mavlink_message_t* msg, double *distance)
 234 {
 235     return _MAV_RETURN_double_array(msg, distance, 16,  8);
 236 }
 237
 238 /**
 239  * @brief Decode a wheel_distance message into a struct
 240  *
 241  * @param msg The message to decode
 242  * @param wheel_distance C-struct to decode the message contents into
 243  */
 244 static inline void mavlink_msg_wheel_distance_decode(const mavlink_message_t* msg, mavlink_wheel_distance_t* wheel_distance)
 245 {
 246 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 247     wheel_distance->time_usec = mavlink_msg_wheel_distance_get_time_usec(msg);
 248     mavlink_msg_wheel_distance_get_distance(msg, wheel_distance->distance);
 249     wheel_distance->count = mavlink_msg_wheel_distance_get_count(msg);
 250 #else
 251         uint8_t len = msg->len < MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN? msg->len : MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN;
 252         memset(wheel_distance, 0, MAVLINK_MSG_ID_WHEEL_DISTANCE_LEN);
 253     memcpy(wheel_distance, _MAV_PAYLOAD(msg), len);
 254 #endif
 255 }