Matthew Gong
331 lines
17 KiB
C
331 lines
17 KiB
C
#pragma once
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// MESSAGE OBSTACLE_DISTANCE PACKING
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#define MAVLINK_MSG_ID_OBSTACLE_DISTANCE 330
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MAVPACKED(
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typedef struct __mavlink_obstacle_distance_t {
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uint64_t time_usec; /*< Timestamp (microseconds since system boot or since UNIX epoch)*/
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uint16_t distances[72]; /*< Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.*/
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uint16_t min_distance; /*< Minimum distance the sensor can measure in centimeters*/
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uint16_t max_distance; /*< Maximum distance the sensor can measure in centimeters*/
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uint8_t sensor_type; /*< Class id of the distance sensor type.*/
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uint8_t increment; /*< Angular width in degrees of each array element.*/
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}) mavlink_obstacle_distance_t;
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#define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN 158
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#define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN 158
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#define MAVLINK_MSG_ID_330_LEN 158
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#define MAVLINK_MSG_ID_330_MIN_LEN 158
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#define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC 23
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#define MAVLINK_MSG_ID_330_CRC 23
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#define MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN 72
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_OBSTACLE_DISTANCE { \
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330, \
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"OBSTACLE_DISTANCE", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_obstacle_distance_t, time_usec) }, \
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{ "sensor_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 156, offsetof(mavlink_obstacle_distance_t, sensor_type) }, \
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{ "distances", NULL, MAVLINK_TYPE_UINT16_T, 72, 8, offsetof(mavlink_obstacle_distance_t, distances) }, \
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{ "increment", NULL, MAVLINK_TYPE_UINT8_T, 0, 157, offsetof(mavlink_obstacle_distance_t, increment) }, \
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{ "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 152, offsetof(mavlink_obstacle_distance_t, min_distance) }, \
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{ "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 154, offsetof(mavlink_obstacle_distance_t, max_distance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_OBSTACLE_DISTANCE { \
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"OBSTACLE_DISTANCE", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_obstacle_distance_t, time_usec) }, \
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{ "sensor_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 156, offsetof(mavlink_obstacle_distance_t, sensor_type) }, \
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{ "distances", NULL, MAVLINK_TYPE_UINT16_T, 72, 8, offsetof(mavlink_obstacle_distance_t, distances) }, \
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{ "increment", NULL, MAVLINK_TYPE_UINT8_T, 0, 157, offsetof(mavlink_obstacle_distance_t, increment) }, \
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{ "min_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 152, offsetof(mavlink_obstacle_distance_t, min_distance) }, \
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{ "max_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 154, offsetof(mavlink_obstacle_distance_t, max_distance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a obstacle_distance 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 time_usec Timestamp (microseconds since system boot or since UNIX epoch)
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* @param sensor_type Class id of the distance sensor type.
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* @param distances Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.
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* @param increment Angular width in degrees of each array element.
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* @param min_distance Minimum distance the sensor can measure in centimeters
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* @param max_distance Maximum distance the sensor can measure in centimeters
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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_obstacle_distance_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t sensor_type, const uint16_t *distances, uint8_t increment, uint16_t min_distance, uint16_t max_distance)
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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_OBSTACLE_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 152, min_distance);
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_mav_put_uint16_t(buf, 154, max_distance);
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_mav_put_uint8_t(buf, 156, sensor_type);
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_mav_put_uint8_t(buf, 157, increment);
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_mav_put_uint16_t_array(buf, 8, distances, 72);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN);
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#else
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mavlink_obstacle_distance_t packet;
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packet.time_usec = time_usec;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.sensor_type = sensor_type;
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packet.increment = increment;
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mav_array_memcpy(packet.distances, distances, sizeof(uint16_t)*72);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBSTACLE_DISTANCE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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}
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/**
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* @brief Pack a obstacle_distance 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 time_usec Timestamp (microseconds since system boot or since UNIX epoch)
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* @param sensor_type Class id of the distance sensor type.
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* @param distances Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.
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* @param increment Angular width in degrees of each array element.
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* @param min_distance Minimum distance the sensor can measure in centimeters
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* @param max_distance Maximum distance the sensor can measure in centimeters
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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_obstacle_distance_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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uint64_t time_usec,uint8_t sensor_type,const uint16_t *distances,uint8_t increment,uint16_t min_distance,uint16_t max_distance)
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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_OBSTACLE_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 152, min_distance);
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_mav_put_uint16_t(buf, 154, max_distance);
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_mav_put_uint8_t(buf, 156, sensor_type);
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_mav_put_uint8_t(buf, 157, increment);
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_mav_put_uint16_t_array(buf, 8, distances, 72);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN);
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#else
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mavlink_obstacle_distance_t packet;
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packet.time_usec = time_usec;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.sensor_type = sensor_type;
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packet.increment = increment;
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mav_array_memcpy(packet.distances, distances, sizeof(uint16_t)*72);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBSTACLE_DISTANCE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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}
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/**
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* @brief Encode a obstacle_distance 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 obstacle_distance C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obstacle_distance_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obstacle_distance_t* obstacle_distance)
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{
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return mavlink_msg_obstacle_distance_pack(system_id, component_id, msg, obstacle_distance->time_usec, obstacle_distance->sensor_type, obstacle_distance->distances, obstacle_distance->increment, obstacle_distance->min_distance, obstacle_distance->max_distance);
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}
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/**
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* @brief Encode a obstacle_distance 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 obstacle_distance C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obstacle_distance_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obstacle_distance_t* obstacle_distance)
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{
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return mavlink_msg_obstacle_distance_pack_chan(system_id, component_id, chan, msg, obstacle_distance->time_usec, obstacle_distance->sensor_type, obstacle_distance->distances, obstacle_distance->increment, obstacle_distance->min_distance, obstacle_distance->max_distance);
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}
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/**
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* @brief Send a obstacle_distance message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
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* @param sensor_type Class id of the distance sensor type.
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* @param distances Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.
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* @param increment Angular width in degrees of each array element.
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* @param min_distance Minimum distance the sensor can measure in centimeters
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* @param max_distance Maximum distance the sensor can measure in centimeters
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_obstacle_distance_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_type, const uint16_t *distances, uint8_t increment, uint16_t min_distance, uint16_t max_distance)
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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_OBSTACLE_DISTANCE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 152, min_distance);
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_mav_put_uint16_t(buf, 154, max_distance);
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_mav_put_uint8_t(buf, 156, sensor_type);
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_mav_put_uint8_t(buf, 157, increment);
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_mav_put_uint16_t_array(buf, 8, distances, 72);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE, buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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#else
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mavlink_obstacle_distance_t packet;
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packet.time_usec = time_usec;
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packet.min_distance = min_distance;
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packet.max_distance = max_distance;
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packet.sensor_type = sensor_type;
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packet.increment = increment;
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mav_array_memcpy(packet.distances, distances, sizeof(uint16_t)*72);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE, (const char *)&packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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#endif
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}
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/**
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* @brief Send a obstacle_distance 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_obstacle_distance_send_struct(mavlink_channel_t chan, const mavlink_obstacle_distance_t* obstacle_distance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_obstacle_distance_send(chan, obstacle_distance->time_usec, obstacle_distance->sensor_type, obstacle_distance->distances, obstacle_distance->increment, obstacle_distance->min_distance, obstacle_distance->max_distance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE, (const char *)obstacle_distance, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_OBSTACLE_DISTANCE_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_obstacle_distance_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_type, const uint16_t *distances, uint8_t increment, uint16_t min_distance, uint16_t max_distance)
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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_uint64_t(buf, 0, time_usec);
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_mav_put_uint16_t(buf, 152, min_distance);
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_mav_put_uint16_t(buf, 154, max_distance);
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_mav_put_uint8_t(buf, 156, sensor_type);
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_mav_put_uint8_t(buf, 157, increment);
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_mav_put_uint16_t_array(buf, 8, distances, 72);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE, buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_CRC);
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#else
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mavlink_obstacle_distance_t *packet = (mavlink_obstacle_distance_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->min_distance = min_distance;
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packet->max_distance = max_distance;
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packet->sensor_type = sensor_type;
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packet->increment = increment;
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mav_array_memcpy(packet->distances, distances, sizeof(uint16_t)*72);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE, (const char *)packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_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 OBSTACLE_DISTANCE UNPACKING
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/**
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* @brief Get field time_usec from obstacle_distance message
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*
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* @return Timestamp (microseconds since system boot or since UNIX epoch)
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*/
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static inline uint64_t mavlink_msg_obstacle_distance_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field sensor_type from obstacle_distance message
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*
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* @return Class id of the distance sensor type.
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*/
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static inline uint8_t mavlink_msg_obstacle_distance_get_sensor_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 156);
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}
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/**
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* @brief Get field distances from obstacle_distance message
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*
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* @return Distance of obstacles in front of the sensor starting on the left side. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstace is present. A value of UINT16_MAX for unknown/not used. In a array element, each unit corresponds to 1cm.
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*/
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static inline uint16_t mavlink_msg_obstacle_distance_get_distances(const mavlink_message_t* msg, uint16_t *distances)
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{
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return _MAV_RETURN_uint16_t_array(msg, distances, 72, 8);
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}
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/**
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* @brief Get field increment from obstacle_distance message
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*
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* @return Angular width in degrees of each array element.
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*/
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static inline uint8_t mavlink_msg_obstacle_distance_get_increment(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 157);
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}
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/**
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* @brief Get field min_distance from obstacle_distance message
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*
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* @return Minimum distance the sensor can measure in centimeters
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*/
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static inline uint16_t mavlink_msg_obstacle_distance_get_min_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 152);
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}
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/**
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* @brief Get field max_distance from obstacle_distance message
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*
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* @return Maximum distance the sensor can measure in centimeters
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*/
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static inline uint16_t mavlink_msg_obstacle_distance_get_max_distance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 154);
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}
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/**
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* @brief Decode a obstacle_distance message into a struct
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*
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* @param msg The message to decode
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* @param obstacle_distance C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_obstacle_distance_decode(const mavlink_message_t* msg, mavlink_obstacle_distance_t* obstacle_distance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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obstacle_distance->time_usec = mavlink_msg_obstacle_distance_get_time_usec(msg);
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mavlink_msg_obstacle_distance_get_distances(msg, obstacle_distance->distances);
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obstacle_distance->min_distance = mavlink_msg_obstacle_distance_get_min_distance(msg);
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obstacle_distance->max_distance = mavlink_msg_obstacle_distance_get_max_distance(msg);
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obstacle_distance->sensor_type = mavlink_msg_obstacle_distance_get_sensor_type(msg);
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obstacle_distance->increment = mavlink_msg_obstacle_distance_get_increment(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN? msg->len : MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN;
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memset(obstacle_distance, 0, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN);
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memcpy(obstacle_distance, _MAV_PAYLOAD(msg), len);
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#endif
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}
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