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338 lines
16 KiB
C
Executable file
338 lines
16 KiB
C
Executable file
#pragma once
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// MESSAGE COMMAND_ACK PACKING
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#define MAVLINK_MSG_ID_COMMAND_ACK 77
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typedef struct __mavlink_command_ack_t {
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uint16_t command; /*< Command ID (of acknowledged command).*/
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uint8_t result; /*< Result of command.*/
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uint8_t progress; /*< WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).*/
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int32_t result_param2; /*< WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.*/
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uint8_t target_system; /*< WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.*/
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uint8_t target_component; /*< WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.*/
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} mavlink_command_ack_t;
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#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 10
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#define MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN 3
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#define MAVLINK_MSG_ID_77_LEN 10
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#define MAVLINK_MSG_ID_77_MIN_LEN 3
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#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
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#define MAVLINK_MSG_ID_77_CRC 143
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
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77, \
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"COMMAND_ACK", \
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6, \
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{ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
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{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
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{ "progress", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_ack_t, progress) }, \
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{ "result_param2", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_command_ack_t, result_param2) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_command_ack_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_command_ack_t, target_component) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
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"COMMAND_ACK", \
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6, \
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{ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
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{ "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
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{ "progress", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_ack_t, progress) }, \
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{ "result_param2", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_command_ack_t, result_param2) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_command_ack_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_command_ack_t, target_component) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a command_ack message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param command Command ID (of acknowledged command).
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* @param result Result of command.
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* @param progress WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).
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* @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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* @param target_system WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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* @param target_component WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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_mav_put_uint8_t(buf, 3, progress);
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_mav_put_int32_t(buf, 4, result_param2);
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_mav_put_uint8_t(buf, 8, target_system);
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_mav_put_uint8_t(buf, 9, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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packet.progress = progress;
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packet.result_param2 = result_param2;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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}
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/**
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* @brief Pack a command_ack message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param command Command ID (of acknowledged command).
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* @param result Result of command.
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* @param progress WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).
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* @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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* @param target_system WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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* @param target_component WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint16_t command,uint8_t result,uint8_t progress,int32_t result_param2,uint8_t target_system,uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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_mav_put_uint8_t(buf, 3, progress);
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_mav_put_int32_t(buf, 4, result_param2);
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_mav_put_uint8_t(buf, 8, target_system);
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_mav_put_uint8_t(buf, 9, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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packet.progress = progress;
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packet.result_param2 = result_param2;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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}
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/**
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* @brief Encode a command_ack struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param command_ack C-struct to read the message contents from
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*/
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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)
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{
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return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
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}
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/**
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* @brief Encode a command_ack struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param command_ack C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
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{
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return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
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}
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/**
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* @brief Send a command_ack message
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* @param chan MAVLink channel to send the message
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*
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* @param command Command ID (of acknowledged command).
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* @param result Result of command.
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* @param progress WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).
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* @param result_param2 WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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* @param target_system WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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* @param target_component WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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_mav_put_uint8_t(buf, 3, progress);
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_mav_put_int32_t(buf, 4, result_param2);
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_mav_put_uint8_t(buf, 8, target_system);
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_mav_put_uint8_t(buf, 9, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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mavlink_command_ack_t packet;
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packet.command = command;
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packet.result = result;
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packet.progress = progress;
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packet.result_param2 = result_param2;
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packet.target_system = target_system;
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packet.target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#endif
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}
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/**
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* @brief Send a command_ack message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_command_ack_send_struct(mavlink_channel_t chan, const mavlink_command_ack_t* command_ack)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_command_ack_send(chan, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)command_ack, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint16_t(buf, 0, command);
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_mav_put_uint8_t(buf, 2, result);
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_mav_put_uint8_t(buf, 3, progress);
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_mav_put_int32_t(buf, 4, result_param2);
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_mav_put_uint8_t(buf, 8, target_system);
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_mav_put_uint8_t(buf, 9, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#else
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mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
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packet->command = command;
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packet->result = result;
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packet->progress = progress;
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packet->result_param2 = result_param2;
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packet->target_system = target_system;
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packet->target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE COMMAND_ACK UNPACKING
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/**
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* @brief Get field command from command_ack message
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*
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* @return Command ID (of acknowledged command).
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*/
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static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 0);
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}
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/**
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* @brief Get field result from command_ack message
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*
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* @return Result of command.
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*/
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static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Get field progress from command_ack message
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*
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* @return WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).
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*/
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static inline uint8_t mavlink_msg_command_ack_get_progress(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 3);
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}
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/**
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* @brief Get field result_param2 from command_ack message
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*
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* @return WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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*/
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static inline int32_t mavlink_msg_command_ack_get_result_param2(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 4);
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}
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/**
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* @brief Get field target_system from command_ack message
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*
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* @return WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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*/
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static inline uint8_t mavlink_msg_command_ack_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 8);
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}
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/**
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* @brief Get field target_component from command_ack message
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*
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* @return WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
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*/
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static inline uint8_t mavlink_msg_command_ack_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 9);
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}
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/**
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* @brief Decode a command_ack message into a struct
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*
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* @param msg The message to decode
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* @param command_ack C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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command_ack->command = mavlink_msg_command_ack_get_command(msg);
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command_ack->result = mavlink_msg_command_ack_get_result(msg);
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command_ack->progress = mavlink_msg_command_ack_get_progress(msg);
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command_ack->result_param2 = mavlink_msg_command_ack_get_result_param2(msg);
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command_ack->target_system = mavlink_msg_command_ack_get_target_system(msg);
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command_ack->target_component = mavlink_msg_command_ack_get_target_component(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_ACK_LEN;
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memset(command_ack, 0, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
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memcpy(command_ack, _MAV_PAYLOAD(msg), len);
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#endif
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}
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