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

   1 // MESSAGE STATUSTEXT PACKING
   2
   3 #define MAVLINK_MSG_ID_STATUSTEXT 253
   4
   5 typedef struct __mavlink_statustext_t {
   6     uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
   7     char    text[50]; ///< Status text message, without null termination character
   8 } mavlink_statustext_t;
   9
  10 #define MAVLINK_MSG_ID_STATUSTEXT_LEN         51
  11 #define MAVLINK_MSG_ID_253_LEN                51
  12
  13 #define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
  14
  15 #define MAVLINK_MESSAGE_INFO_STATUSTEXT \
  16     { \
  17         "STATUSTEXT", \
  18         2, \
  19         { \
  20             { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
  21             { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
  22         } \
  23     }
  24
  25
  26 /**
  27  * @brief Pack a statustext message
  28  * @param system_id ID of this system
  29  * @param component_id ID of this component (e.g. 200 for IMU)
  30  * @param msg The MAVLink message to compress the data into
  31  *
  32  * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
  33  * @param text Status text message, without null termination character
  34  * @return length of the message in bytes (excluding serial stream start sign)
  35  */
  36 static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  37                                                    uint8_t severity, const char *text)
  38 {
  39 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  40     char buf[51];
  41     _mav_put_uint8_t(buf, 0, severity);
  42     _mav_put_char_array(buf, 1, text, 50);
  43     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51);
  44 #else
  45     mavlink_statustext_t packet;
  46     packet.severity = severity;
  47     mav_array_memcpy(packet.text, text, sizeof(char) * 50);
  48     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51);
  49 #endif
  50
  51     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
  52     return mavlink_finalize_message(msg, system_id, component_id, 51, 83);
  53 }
  54
  55 /**
  56  * @brief Pack a statustext message on a channel
  57  * @param system_id ID of this system
  58  * @param component_id ID of this component (e.g. 200 for IMU)
  59  * @param chan The MAVLink channel this message was sent over
  60  * @param msg The MAVLink message to compress the data into
  61  * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
  62  * @param text Status text message, without null termination character
  63  * @return length of the message in bytes (excluding serial stream start sign)
  64  */
  65 static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  66                                                         mavlink_message_t *msg,
  67                                                         uint8_t severity, const char *text)
  68 {
  69 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  70     char buf[51];
  71     _mav_put_uint8_t(buf, 0, severity);
  72     _mav_put_char_array(buf, 1, text, 50);
  73     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 51);
  74 #else
  75     mavlink_statustext_t packet;
  76     packet.severity = severity;
  77     mav_array_memcpy(packet.text, text, sizeof(char) * 50);
  78     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 51);
  79 #endif
  80
  81     msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
  82     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 51, 83);
  83 }
  84
  85 /**
  86  * @brief Encode a statustext struct into a message
  87  *
  88  * @param system_id ID of this system
  89  * @param component_id ID of this component (e.g. 200 for IMU)
  90  * @param msg The MAVLink message to compress the data into
  91  * @param statustext C-struct to read the message contents from
  92  */
  93 static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_statustext_t *statustext)
  94 {
  95     return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
  96 }
  97
  98 /**
  99  * @brief Send a statustext message
 100  * @param chan MAVLink channel to send the message
 101  *
 102  * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
 103  * @param text Status text message, without null termination character
 104  */
 105 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 106
 107 static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
 108 {
 109 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 110     char buf[51];
 111     _mav_put_uint8_t(buf, 0, severity);
 112     _mav_put_char_array(buf, 1, text, 50);
 113     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, 51, 83);
 114 #else
 115     mavlink_statustext_t packet;
 116     packet.severity = severity;
 117     mav_array_memcpy(packet.text, text, sizeof(char) * 50);
 118     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, 51, 83);
 119 #endif
 120 }
 121
 122 #endif
 123
 124 // MESSAGE STATUSTEXT UNPACKING
 125
 126
 127 /**
 128  * @brief Get field severity from statustext message
 129  *
 130  * @return Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
 131  */
 132 static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t *msg)
 133 {
 134     return _MAV_RETURN_uint8_t(msg, 0);
 135 }
 136
 137 /**
 138  * @brief Get field text from statustext message
 139  *
 140  * @return Status text message, without null termination character
 141  */
 142 static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t *msg, char *text)
 143 {
 144     return _MAV_RETURN_char_array(msg, text, 50, 1);
 145 }
 146
 147 /**
 148  * @brief Decode a statustext message into a struct
 149  *
 150  * @param msg The message to decode
 151  * @param statustext C-struct to decode the message contents into
 152  */
 153 static inline void mavlink_msg_statustext_decode(const mavlink_message_t *msg, mavlink_statustext_t *statustext)
 154 {
 155 #if MAVLINK_NEED_BYTE_SWAP
 156     statustext->severity = mavlink_msg_statustext_get_severity(msg);
 157     mavlink_msg_statustext_get_text(msg, statustext->text);
 158 #else
 159     memcpy(statustext, _MAV_PAYLOAD(msg), 51);
 160 #endif
 161 }