lib/main/MAVLink/mavlink_get_info.h

   1 #pragma once
   2
   3 #ifdef MAVLINK_USE_MESSAGE_INFO
   4 #define MAVLINK_HAVE_GET_MESSAGE_INFO
   5
   6 /*
   7   return the message_info struct for a message
   8 */
   9 MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid)
  10 {
  11         static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
  12         /*
  13           use a bisection search to find the right entry. A perfect hash may be better
  14           Note that this assumes the table is sorted with primary key msgid
  15         */
  16         uint32_t low=0, high=sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
  17         while (low < high) {
  18             uint32_t mid = (low+1+high)/2;
  19             if (msgid < mavlink_message_info[mid].msgid) {
  20                 high = mid-1;
  21                 continue;
  22             }
  23             if (msgid > mavlink_message_info[mid].msgid) {
  24                 low = mid;
  25                 continue;
  26             }
  27             low = mid;
  28             break;
  29         }
  30         if (mavlink_message_info[low].msgid == msgid) {
  31             return &mavlink_message_info[low];
  32         }
  33         return NULL;
  34 }
  35
  36 /*
  37   return the message_info struct for a message
  38 */
  39 MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
  40 {
  41     return mavlink_get_message_info_by_id(msg->msgid);
  42 }
  43
  44 /*
  45   return the message_info struct for a message
  46 */
  47 MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name)
  48 {
  49         static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES;
  50         /*
  51           use a bisection search to find the right entry. A perfect hash may be better
  52           Note that this assumes the table is sorted with primary key name
  53         */
  54         uint32_t low=0, high=sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
  55         while (low < high) {
  56             uint32_t mid = (low+1+high)/2;
  57             int cmp = strcmp(mavlink_message_names[mid].name, name);
  58             if (cmp == 0) {
  59                     return mavlink_get_message_info_by_id(mavlink_message_names[mid].msgid);
  60             }
  61             if (cmp > 0) {
  62                 high = mid-1;
  63             } else {
  64                 low = mid;
  65             }
  66         }
  67         return NULL;
  68 }
  69 #endif // MAVLINK_USE_MESSAGE_INFO
  70
  71