lib/main/MAVLink/minimal/mavlink_msg_protocol_version.h

   1 #pragma once
   2 // MESSAGE PROTOCOL_VERSION PACKING
   3
   4 #define MAVLINK_MSG_ID_PROTOCOL_VERSION 300
   5
   6
   7 typedef struct __mavlink_protocol_version_t {
   8  uint16_t version; /*<  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.*/
   9  uint16_t min_version; /*<  Minimum MAVLink version supported*/
  10  uint16_t max_version; /*<  Maximum MAVLink version supported (set to the same value as version by default)*/
  11  uint8_t spec_version_hash[8]; /*<  The first 8 bytes (not characters printed in hex!) of the git hash.*/
  12  uint8_t library_version_hash[8]; /*<  The first 8 bytes (not characters printed in hex!) of the git hash.*/
  13 } mavlink_protocol_version_t;
  14
  15 #define MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN 22
  16 #define MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN 22
  17 #define MAVLINK_MSG_ID_300_LEN 22
  18 #define MAVLINK_MSG_ID_300_MIN_LEN 22
  19
  20 #define MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC 217
  21 #define MAVLINK_MSG_ID_300_CRC 217
  22
  23 #define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_SPEC_VERSION_HASH_LEN 8
  24 #define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_LIBRARY_VERSION_HASH_LEN 8
  25
  26 #if MAVLINK_COMMAND_24BIT
  27 #define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
  28     300, \
  29     "PROTOCOL_VERSION", \
  30     5, \
  31     {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
  32          { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
  33          { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
  34          { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
  35          { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
  36          } \
  37 }
  38 #else
  39 #define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
  40     "PROTOCOL_VERSION", \
  41     5, \
  42     {  { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
  43          { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
  44          { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
  45          { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
  46          { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
  47          } \
  48 }
  49 #endif
  50
  51 /**
  52  * @brief Pack a protocol_version message
  53  * @param system_id ID of this system
  54  * @param component_id ID of this component (e.g. 200 for IMU)
  55  * @param msg The MAVLink message to compress the data into
  56  *
  57  * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
  58  * @param min_version  Minimum MAVLink version supported
  59  * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
  60  * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
  61  * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
  62  * @return length of the message in bytes (excluding serial stream start sign)
  63  */
  64 static inline uint16_t mavlink_msg_protocol_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  65                                uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
  66 {
  67 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  68     char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
  69     _mav_put_uint16_t(buf, 0, version);
  70     _mav_put_uint16_t(buf, 2, min_version);
  71     _mav_put_uint16_t(buf, 4, max_version);
  72     _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
  73     _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
  74         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
  75 #else
  76     mavlink_protocol_version_t packet;
  77     packet.version = version;
  78     packet.min_version = min_version;
  79     packet.max_version = max_version;
  80     mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
  81     mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
  83 #endif
  84
  85     msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
  86     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
  87 }
  88
  89 /**
  90  * @brief Pack a protocol_version message on a channel
  91  * @param system_id ID of this system
  92  * @param component_id ID of this component (e.g. 200 for IMU)
  93  * @param chan The MAVLink channel this message will be sent over
  94  * @param msg The MAVLink message to compress the data into
  95  * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
  96  * @param min_version  Minimum MAVLink version supported
  97  * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
  98  * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
  99  * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
 100  * @return length of the message in bytes (excluding serial stream start sign)
 101  */
 102 static inline uint16_t mavlink_msg_protocol_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 103                                mavlink_message_t* msg,
 104                                    uint16_t version,uint16_t min_version,uint16_t max_version,const uint8_t *spec_version_hash,const uint8_t *library_version_hash)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
 108     _mav_put_uint16_t(buf, 0, version);
 109     _mav_put_uint16_t(buf, 2, min_version);
 110     _mav_put_uint16_t(buf, 4, max_version);
 111     _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
 112     _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
 113         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
 114 #else
 115     mavlink_protocol_version_t packet;
 116     packet.version = version;
 117     packet.min_version = min_version;
 118     packet.max_version = max_version;
 119     mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
 120     mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
 121         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
 122 #endif
 123
 124     msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 126 }
 127
 128 /**
 129  * @brief Encode a protocol_version struct
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param msg The MAVLink message to compress the data into
 134  * @param protocol_version C-struct to read the message contents from
 135  */
 136 static inline uint16_t mavlink_msg_protocol_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
 137 {
 138     return mavlink_msg_protocol_version_pack(system_id, component_id, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
 139 }
 140
 141 /**
 142  * @brief Encode a protocol_version struct on a channel
 143  *
 144  * @param system_id ID of this system
 145  * @param component_id ID of this component (e.g. 200 for IMU)
 146  * @param chan The MAVLink channel this message will be sent over
 147  * @param msg The MAVLink message to compress the data into
 148  * @param protocol_version C-struct to read the message contents from
 149  */
 150 static inline uint16_t mavlink_msg_protocol_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
 151 {
 152     return mavlink_msg_protocol_version_pack_chan(system_id, component_id, chan, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
 153 }
 154
 155 /**
 156  * @brief Send a protocol_version message
 157  * @param chan MAVLink channel to send the message
 158  *
 159  * @param version  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
 160  * @param min_version  Minimum MAVLink version supported
 161  * @param max_version  Maximum MAVLink version supported (set to the same value as version by default)
 162  * @param spec_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
 163  * @param library_version_hash  The first 8 bytes (not characters printed in hex!) of the git hash.
 164  */
 165 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 166
 167 static inline void mavlink_msg_protocol_version_send(mavlink_channel_t chan, uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
 168 {
 169 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 170     char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
 171     _mav_put_uint16_t(buf, 0, version);
 172     _mav_put_uint16_t(buf, 2, min_version);
 173     _mav_put_uint16_t(buf, 4, max_version);
 174     _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
 175     _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
 176     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 177 #else
 178     mavlink_protocol_version_t packet;
 179     packet.version = version;
 180     packet.min_version = min_version;
 181     packet.max_version = max_version;
 182     mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
 183     mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
 184     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)&packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 185 #endif
 186 }
 187
 188 /**
 189  * @brief Send a protocol_version message
 190  * @param chan MAVLink channel to send the message
 191  * @param struct The MAVLink struct to serialize
 192  */
 193 static inline void mavlink_msg_protocol_version_send_struct(mavlink_channel_t chan, const mavlink_protocol_version_t* protocol_version)
 194 {
 195 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 196     mavlink_msg_protocol_version_send(chan, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
 197 #else
 198     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)protocol_version, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 199 #endif
 200 }
 201
 202 #if MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 203 /*
 204   This varient of _send() can be used to save stack space by re-using
 205   memory from the receive buffer.  The caller provides a
 206   mavlink_message_t which is the size of a full mavlink message. This
 207   is usually the receive buffer for the channel, and allows a reply to an
 208   incoming message with minimum stack space usage.
 209  */
 210 static inline void mavlink_msg_protocol_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
 211 {
 212 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213     char *buf = (char *)msgbuf;
 214     _mav_put_uint16_t(buf, 0, version);
 215     _mav_put_uint16_t(buf, 2, min_version);
 216     _mav_put_uint16_t(buf, 4, max_version);
 217     _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
 218     _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 220 #else
 221     mavlink_protocol_version_t *packet = (mavlink_protocol_version_t *)msgbuf;
 222     packet->version = version;
 223     packet->min_version = min_version;
 224     packet->max_version = max_version;
 225     mav_array_memcpy(packet->spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
 226     mav_array_memcpy(packet->library_version_hash, library_version_hash, sizeof(uint8_t)*8);
 227     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
 228 #endif
 229 }
 230 #endif
 231
 232 #endif
 233
 234 // MESSAGE PROTOCOL_VERSION UNPACKING
 235
 236
 237 /**
 238  * @brief Get field version from protocol_version message
 239  *
 240  * @return  Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
 241  */
 242 static inline uint16_t mavlink_msg_protocol_version_get_version(const mavlink_message_t* msg)
 243 {
 244     return _MAV_RETURN_uint16_t(msg,  0);
 245 }
 246
 247 /**
 248  * @brief Get field min_version from protocol_version message
 249  *
 250  * @return  Minimum MAVLink version supported
 251  */
 252 static inline uint16_t mavlink_msg_protocol_version_get_min_version(const mavlink_message_t* msg)
 253 {
 254     return _MAV_RETURN_uint16_t(msg,  2);
 255 }
 256
 257 /**
 258  * @brief Get field max_version from protocol_version message
 259  *
 260  * @return  Maximum MAVLink version supported (set to the same value as version by default)
 261  */
 262 static inline uint16_t mavlink_msg_protocol_version_get_max_version(const mavlink_message_t* msg)
 263 {
 264     return _MAV_RETURN_uint16_t(msg,  4);
 265 }
 266
 267 /**
 268  * @brief Get field spec_version_hash from protocol_version message
 269  *
 270  * @return  The first 8 bytes (not characters printed in hex!) of the git hash.
 271  */
 272 static inline uint16_t mavlink_msg_protocol_version_get_spec_version_hash(const mavlink_message_t* msg, uint8_t *spec_version_hash)
 273 {
 274     return _MAV_RETURN_uint8_t_array(msg, spec_version_hash, 8,  6);
 275 }
 276
 277 /**
 278  * @brief Get field library_version_hash from protocol_version message
 279  *
 280  * @return  The first 8 bytes (not characters printed in hex!) of the git hash.
 281  */
 282 static inline uint16_t mavlink_msg_protocol_version_get_library_version_hash(const mavlink_message_t* msg, uint8_t *library_version_hash)
 283 {
 284     return _MAV_RETURN_uint8_t_array(msg, library_version_hash, 8,  14);
 285 }
 286
 287 /**
 288  * @brief Decode a protocol_version message into a struct
 289  *
 290  * @param msg The message to decode
 291  * @param protocol_version C-struct to decode the message contents into
 292  */
 293 static inline void mavlink_msg_protocol_version_decode(const mavlink_message_t* msg, mavlink_protocol_version_t* protocol_version)
 294 {
 295 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 296     protocol_version->version = mavlink_msg_protocol_version_get_version(msg);
 297     protocol_version->min_version = mavlink_msg_protocol_version_get_min_version(msg);
 298     protocol_version->max_version = mavlink_msg_protocol_version_get_max_version(msg);
 299     mavlink_msg_protocol_version_get_spec_version_hash(msg, protocol_version->spec_version_hash);
 300     mavlink_msg_protocol_version_get_library_version_hash(msg, protocol_version->library_version_hash);
 301 #else
 302         uint8_t len = msg->len < MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN? msg->len : MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN;
 303         memset(protocol_version, 0, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
 304     memcpy(protocol_version, _MAV_PAYLOAD(msg), len);
 305 #endif
 306 }