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

   1 // MESSAGE SYSTEM_TIME PACKING
   2
   3 #define MAVLINK_MSG_ID_SYSTEM_TIME 2
   4
   5 typedef struct __mavlink_system_time_t {
   6     uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
   7     uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds.
   8 } mavlink_system_time_t;
   9
  10 #define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12
  11 #define MAVLINK_MSG_ID_2_LEN           12
  12
  13
  14 #define MAVLINK_MESSAGE_INFO_SYSTEM_TIME \
  15     { \
  16         "SYSTEM_TIME", \
  17         2, \
  18         { \
  19             { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
  20             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
  21         } \
  22     }
  23
  24
  25 /**
  26  * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
  32  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
  33  * @return length of the message in bytes (excluding serial stream start sign)
  34  */
  35 static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  36                                                     uint64_t time_unix_usec, uint32_t time_boot_ms)
  37 {
  38 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  39     char buf[12];
  40     _mav_put_uint64_t(buf, 0, time_unix_usec);
  41     _mav_put_uint32_t(buf, 8, time_boot_ms);
  42
  43     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
  44 #else
  45     mavlink_system_time_t packet;
  46     packet.time_unix_usec = time_unix_usec;
  47     packet.time_boot_ms   = time_boot_ms;
  48
  49     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
  50 #endif
  51
  52     msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
  53     return mavlink_finalize_message(msg, system_id, component_id, 12, 137);
  54 }
  55
  56 /**
  57  * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
  63  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
  64  * @return length of the message in bytes (excluding serial stream start sign)
  65  */
  66 static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  67                                                          mavlink_message_t *msg,
  68                                                          uint64_t time_unix_usec, uint32_t time_boot_ms)
  69 {
  70 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  71     char buf[12];
  72     _mav_put_uint64_t(buf, 0, time_unix_usec);
  73     _mav_put_uint32_t(buf, 8, time_boot_ms);
  74
  75     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
  76 #else
  77     mavlink_system_time_t packet;
  78     packet.time_unix_usec = time_unix_usec;
  79     packet.time_boot_ms   = time_boot_ms;
  80
  81     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
  85     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 137);
  86 }
  87
  88 /**
  89  * @brief Encode a system_time 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 system_time C-struct to read the message contents from
  95  */
  96 static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_system_time_t *system_time)
  97 {
  98     return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms);
  99 }
 100
 101 /**
 102  * @brief Send a system_time message
 103  * @param chan MAVLink channel to send the message
 104  *
 105  * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
 106  * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
 107  */
 108 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 109
 110 static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
 111 {
 112 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 113     char buf[12];
 114     _mav_put_uint64_t(buf, 0, time_unix_usec);
 115     _mav_put_uint32_t(buf, 8, time_boot_ms);
 116
 117     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, 12, 137);
 118 #else
 119     mavlink_system_time_t packet;
 120     packet.time_unix_usec = time_unix_usec;
 121     packet.time_boot_ms   = time_boot_ms;
 122
 123     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, 12, 137);
 124 #endif
 125 }
 126
 127 #endif
 128
 129 // MESSAGE SYSTEM_TIME UNPACKING
 130
 131
 132 /**
 133  * @brief Get field time_unix_usec from system_time message
 134  *
 135  * @return Timestamp of the master clock in microseconds since UNIX epoch.
 136  */
 137 static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t *msg)
 138 {
 139     return _MAV_RETURN_uint64_t(msg, 0);
 140 }
 141
 142 /**
 143  * @brief Get field time_boot_ms from system_time message
 144  *
 145  * @return Timestamp of the component clock since boot time in milliseconds.
 146  */
 147 static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t *msg)
 148 {
 149     return _MAV_RETURN_uint32_t(msg, 8);
 150 }
 151
 152 /**
 153  * @brief Decode a system_time message into a struct
 154  *
 155  * @param msg The message to decode
 156  * @param system_time C-struct to decode the message contents into
 157  */
 158 static inline void mavlink_msg_system_time_decode(const mavlink_message_t *msg, mavlink_system_time_t *system_time)
 159 {
 160 #if MAVLINK_NEED_BYTE_SWAP
 161     system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg);
 162     system_time->time_boot_ms   = mavlink_msg_system_time_get_time_boot_ms(msg);
 163 #else
 164     memcpy(system_time, _MAV_PAYLOAD(msg), 12);
 165 #endif
 166 }