flight/libraries/mavlink/v1.0/common/mavlink_msg_command_ack.h

   1 // MESSAGE COMMAND_ACK PACKING
   2
   3 #define MAVLINK_MSG_ID_COMMAND_ACK 77
   4
   5 typedef struct __mavlink_command_ack_t {
   6     uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
   7     uint8_t  result; ///< See MAV_RESULT enum
   8 } mavlink_command_ack_t;
   9
  10 #define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
  11 #define MAVLINK_MSG_ID_77_LEN          3
  12
  13
  14 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK \
  15     { \
  16         "COMMAND_ACK", \
  17         2, \
  18         { \
  19             { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
  20             { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
  21         } \
  22     }
  23
  24
  25 /**
  26  * @brief Pack a command_ack message
  27  * @param system_id ID of this system
  28  * @param component_id ID of this component (e.g. 200 for IMU)
  29  * @param msg The MAVLink message to compress the data into
  30  *
  31  * @param command Command ID, as defined by MAV_CMD enum.
  32  * @param result See MAV_RESULT enum
  33  * @return length of the message in bytes (excluding serial stream start sign)
  34  */
  35 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  36                                                     uint16_t command, uint8_t result)
  37 {
  38 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  39     char buf[3];
  40     _mav_put_uint16_t(buf, 0, command);
  41     _mav_put_uint8_t(buf, 2, result);
  42
  43     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
  44 #else
  45     mavlink_command_ack_t packet;
  46     packet.command = command;
  47     packet.result  = result;
  48
  49     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
  50 #endif
  51
  52     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
  53     return mavlink_finalize_message(msg, system_id, component_id, 3, 143);
  54 }
  55
  56 /**
  57  * @brief Pack a command_ack message on a channel
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param chan The MAVLink channel this message was sent over
  61  * @param msg The MAVLink message to compress the data into
  62  * @param command Command ID, as defined by MAV_CMD enum.
  63  * @param result See MAV_RESULT enum
  64  * @return length of the message in bytes (excluding serial stream start sign)
  65  */
  66 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  67                                                          mavlink_message_t *msg,
  68                                                          uint16_t command, uint8_t result)
  69 {
  70 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  71     char buf[3];
  72     _mav_put_uint16_t(buf, 0, command);
  73     _mav_put_uint8_t(buf, 2, result);
  74
  75     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 3);
  76 #else
  77     mavlink_command_ack_t packet;
  78     packet.command = command;
  79     packet.result  = result;
  80
  81     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 3);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
  85     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143);
  86 }
  87
  88 /**
  89  * @brief Encode a command_ack struct into a message
  90  *
  91  * @param system_id ID of this system
  92  * @param component_id ID of this component (e.g. 200 for IMU)
  93  * @param msg The MAVLink message to compress the data into
  94  * @param command_ack C-struct to read the message contents from
  95  */
  96 static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_command_ack_t *command_ack)
  97 {
  98     return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
  99 }
 100
 101 /**
 102  * @brief Send a command_ack message
 103  * @param chan MAVLink channel to send the message
 104  *
 105  * @param command Command ID, as defined by MAV_CMD enum.
 106  * @param result See MAV_RESULT enum
 107  */
 108 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 109
 110 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
 111 {
 112 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 113     char buf[3];
 114     _mav_put_uint16_t(buf, 0, command);
 115     _mav_put_uint8_t(buf, 2, result);
 116
 117     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143);
 118 #else
 119     mavlink_command_ack_t packet;
 120     packet.command = command;
 121     packet.result  = result;
 122
 123     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143);
 124 #endif
 125 }
 126
 127 #endif
 128
 129 // MESSAGE COMMAND_ACK UNPACKING
 130
 131
 132 /**
 133  * @brief Get field command from command_ack message
 134  *
 135  * @return Command ID, as defined by MAV_CMD enum.
 136  */
 137 static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t *msg)
 138 {
 139     return _MAV_RETURN_uint16_t(msg, 0);
 140 }
 141
 142 /**
 143  * @brief Get field result from command_ack message
 144  *
 145  * @return See MAV_RESULT enum
 146  */
 147 static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t *msg)
 148 {
 149     return _MAV_RETURN_uint8_t(msg, 2);
 150 }
 151
 152 /**
 153  * @brief Decode a command_ack message into a struct
 154  *
 155  * @param msg The message to decode
 156  * @param command_ack C-struct to decode the message contents into
 157  */
 158 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t *msg, mavlink_command_ack_t *command_ack)
 159 {
 160 #if MAVLINK_NEED_BYTE_SWAP
 161     command_ack->command = mavlink_msg_command_ack_get_command(msg);
 162     command_ack->result  = mavlink_msg_command_ack_get_result(msg);
 163 #else
 164     memcpy(command_ack, _MAV_PAYLOAD(msg), 3);
 165 #endif
 166 }