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

   1 // MESSAGE DATA_STREAM PACKING
   2
   3 #define MAVLINK_MSG_ID_DATA_STREAM 67
   4
   5 typedef struct __mavlink_data_stream_t {
   6     uint16_t message_rate; ///< The requested interval between two messages of this type
   7     uint8_t  stream_id; ///< The ID of the requested data stream
   8     uint8_t  on_off; ///< 1 stream is enabled, 0 stream is stopped.
   9 } mavlink_data_stream_t;
  10
  11 #define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
  12 #define MAVLINK_MSG_ID_67_LEN          4
  13
  14
  15 #define MAVLINK_MESSAGE_INFO_DATA_STREAM \
  16     { \
  17         "DATA_STREAM", \
  18         3, \
  19         { \
  20             { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
  21             { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
  22             { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
  23         } \
  24     }
  25
  26
  27 /**
  28  * @brief Pack a data_stream message
  29  * @param system_id ID of this system
  30  * @param component_id ID of this component (e.g. 200 for IMU)
  31  * @param msg The MAVLink message to compress the data into
  32  *
  33  * @param stream_id The ID of the requested data stream
  34  * @param message_rate The requested interval between two messages of this type
  35  * @param on_off 1 stream is enabled, 0 stream is stopped.
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  39                                                     uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42     char buf[4];
  43     _mav_put_uint16_t(buf, 0, message_rate);
  44     _mav_put_uint8_t(buf, 2, stream_id);
  45     _mav_put_uint8_t(buf, 3, on_off);
  46
  47     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
  48 #else
  49     mavlink_data_stream_t packet;
  50     packet.message_rate = message_rate;
  51     packet.stream_id    = stream_id;
  52     packet.on_off = on_off;
  53
  54     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
  55 #endif
  56
  57     msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
  58     return mavlink_finalize_message(msg, system_id, component_id, 4, 21);
  59 }
  60
  61 /**
  62  * @brief Pack a data_stream message on a channel
  63  * @param system_id ID of this system
  64  * @param component_id ID of this component (e.g. 200 for IMU)
  65  * @param chan The MAVLink channel this message was sent over
  66  * @param msg The MAVLink message to compress the data into
  67  * @param stream_id The ID of the requested data stream
  68  * @param message_rate The requested interval between two messages of this type
  69  * @param on_off 1 stream is enabled, 0 stream is stopped.
  70  * @return length of the message in bytes (excluding serial stream start sign)
  71  */
  72 static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  73                                                          mavlink_message_t *msg,
  74                                                          uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
  75 {
  76 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  77     char buf[4];
  78     _mav_put_uint16_t(buf, 0, message_rate);
  79     _mav_put_uint8_t(buf, 2, stream_id);
  80     _mav_put_uint8_t(buf, 3, on_off);
  81
  82     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 4);
  83 #else
  84     mavlink_data_stream_t packet;
  85     packet.message_rate = message_rate;
  86     packet.stream_id    = stream_id;
  87     packet.on_off = on_off;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 4);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 21);
  94 }
  95
  96 /**
  97  * @brief Encode a data_stream struct into a message
  98  *
  99  * @param system_id ID of this system
 100  * @param component_id ID of this component (e.g. 200 for IMU)
 101  * @param msg The MAVLink message to compress the data into
 102  * @param data_stream C-struct to read the message contents from
 103  */
 104 static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_data_stream_t *data_stream)
 105 {
 106     return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
 107 }
 108
 109 /**
 110  * @brief Send a data_stream message
 111  * @param chan MAVLink channel to send the message
 112  *
 113  * @param stream_id The ID of the requested data stream
 114  * @param message_rate The requested interval between two messages of this type
 115  * @param on_off 1 stream is enabled, 0 stream is stopped.
 116  */
 117 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 118
 119 static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[4];
 123     _mav_put_uint16_t(buf, 0, message_rate);
 124     _mav_put_uint8_t(buf, 2, stream_id);
 125     _mav_put_uint8_t(buf, 3, on_off);
 126
 127     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, 4, 21);
 128 #else
 129     mavlink_data_stream_t packet;
 130     packet.message_rate = message_rate;
 131     packet.stream_id    = stream_id;
 132     packet.on_off = on_off;
 133
 134     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, 4, 21);
 135 #endif
 136 }
 137
 138 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 // MESSAGE DATA_STREAM UNPACKING
 141
 142
 143 /**
 144  * @brief Get field stream_id from data_stream message
 145  *
 146  * @return The ID of the requested data stream
 147  */
 148 static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t *msg)
 149 {
 150     return _MAV_RETURN_uint8_t(msg, 2);
 151 }
 152
 153 /**
 154  * @brief Get field message_rate from data_stream message
 155  *
 156  * @return The requested interval between two messages of this type
 157  */
 158 static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t *msg)
 159 {
 160     return _MAV_RETURN_uint16_t(msg, 0);
 161 }
 162
 163 /**
 164  * @brief Get field on_off from data_stream message
 165  *
 166  * @return 1 stream is enabled, 0 stream is stopped.
 167  */
 168 static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t *msg)
 169 {
 170     return _MAV_RETURN_uint8_t(msg, 3);
 171 }
 172
 173 /**
 174  * @brief Decode a data_stream message into a struct
 175  *
 176  * @param msg The message to decode
 177  * @param data_stream C-struct to decode the message contents into
 178  */
 179 static inline void mavlink_msg_data_stream_decode(const mavlink_message_t *msg, mavlink_data_stream_t *data_stream)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP
 182     data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
 183     data_stream->stream_id    = mavlink_msg_data_stream_get_stream_id(msg);
 184     data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
 185 #else
 186     memcpy(data_stream, _MAV_PAYLOAD(msg), 4);
 187 #endif
 188 }