#pragma once // MESSAGE CAMERA_STATUS PACKING #define MAVLINK_MSG_ID_CAMERA_STATUS 179 MAVPACKED( typedef struct __mavlink_camera_status_t { uint64_t time_usec; /*< [us] Image timestamp (since UNIX epoch, according to camera clock).*/ float p1; /*< Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/ float p2; /*< Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/ float p3; /*< Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/ float p4; /*< Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).*/ uint16_t img_idx; /*< Image index.*/ uint8_t target_system; /*< System ID.*/ uint8_t cam_idx; /*< Camera ID.*/ uint8_t event_id; /*< Event type.*/ }) mavlink_camera_status_t; #define MAVLINK_MSG_ID_CAMERA_STATUS_LEN 29 #define MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN 29 #define MAVLINK_MSG_ID_179_LEN 29 #define MAVLINK_MSG_ID_179_MIN_LEN 29 #define MAVLINK_MSG_ID_CAMERA_STATUS_CRC 189 #define MAVLINK_MSG_ID_179_CRC 189 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_CAMERA_STATUS { \ 179, \ "CAMERA_STATUS", \ 9, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_status_t, time_usec) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_status_t, target_system) }, \ { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_status_t, cam_idx) }, \ { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_status_t, img_idx) }, \ { "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_status_t, event_id) }, \ { "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_status_t, p1) }, \ { "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_status_t, p2) }, \ { "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_status_t, p3) }, \ { "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_status_t, p4) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_CAMERA_STATUS { \ "CAMERA_STATUS", \ 9, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_status_t, time_usec) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_camera_status_t, target_system) }, \ { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_camera_status_t, cam_idx) }, \ { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_camera_status_t, img_idx) }, \ { "event_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_camera_status_t, event_id) }, \ { "p1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_camera_status_t, p1) }, \ { "p2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_camera_status_t, p2) }, \ { "p3", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_status_t, p3) }, \ { "p4", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_status_t, p4) }, \ } \ } #endif /** * @brief Pack a camera_status message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_usec [us] Image timestamp (since UNIX epoch, according to camera clock). * @param target_system System ID. * @param cam_idx Camera ID. * @param img_idx Image index. * @param event_id Event type. * @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_camera_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_STATUS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, p1); _mav_put_float(buf, 12, p2); _mav_put_float(buf, 16, p3); _mav_put_float(buf, 20, p4); _mav_put_uint16_t(buf, 24, img_idx); _mav_put_uint8_t(buf, 26, target_system); _mav_put_uint8_t(buf, 27, cam_idx); _mav_put_uint8_t(buf, 28, event_id); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_STATUS_LEN); #else mavlink_camera_status_t packet; packet.time_usec = time_usec; packet.p1 = p1; packet.p2 = p2; packet.p3 = p3; packet.p4 = p4; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.event_id = event_id; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CAMERA_STATUS; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); } /** * @brief Pack a camera_status message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec [us] Image timestamp (since UNIX epoch, according to camera clock). * @param target_system System ID. * @param cam_idx Camera ID. * @param img_idx Image index. * @param event_id Event type. * @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_camera_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,uint8_t event_id,float p1,float p2,float p3,float p4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_STATUS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, p1); _mav_put_float(buf, 12, p2); _mav_put_float(buf, 16, p3); _mav_put_float(buf, 20, p4); _mav_put_uint16_t(buf, 24, img_idx); _mav_put_uint8_t(buf, 26, target_system); _mav_put_uint8_t(buf, 27, cam_idx); _mav_put_uint8_t(buf, 28, event_id); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_STATUS_LEN); #else mavlink_camera_status_t packet; packet.time_usec = time_usec; packet.p1 = p1; packet.p2 = p2; packet.p3 = p3; packet.p4 = p4; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.event_id = event_id; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_STATUS_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CAMERA_STATUS; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); } /** * @brief Encode a camera_status struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param camera_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_camera_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_status_t* camera_status) { return mavlink_msg_camera_status_pack(system_id, component_id, msg, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4); } /** * @brief Encode a camera_status struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param camera_status C-struct to read the message contents from */ static inline uint16_t mavlink_msg_camera_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_status_t* camera_status) { return mavlink_msg_camera_status_pack_chan(system_id, component_id, chan, msg, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4); } /** * @brief Send a camera_status message * @param chan MAVLink channel to send the message * * @param time_usec [us] Image timestamp (since UNIX epoch, according to camera clock). * @param target_system System ID. * @param cam_idx Camera ID. * @param img_idx Image index. * @param event_id Event type. * @param p1 Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p2 Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p3 Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). * @param p4 Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_camera_status_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_STATUS_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, p1); _mav_put_float(buf, 12, p2); _mav_put_float(buf, 16, p3); _mav_put_float(buf, 20, p4); _mav_put_uint16_t(buf, 24, img_idx); _mav_put_uint8_t(buf, 26, target_system); _mav_put_uint8_t(buf, 27, cam_idx); _mav_put_uint8_t(buf, 28, event_id); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, buf, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); #else mavlink_camera_status_t packet; packet.time_usec = time_usec; packet.p1 = p1; packet.p2 = p2; packet.p3 = p3; packet.p4 = p4; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.event_id = event_id; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); #endif } /** * @brief Send a camera_status message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_camera_status_send_struct(mavlink_channel_t chan, const mavlink_camera_status_t* camera_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_camera_status_send(chan, camera_status->time_usec, camera_status->target_system, camera_status->cam_idx, camera_status->img_idx, camera_status->event_id, camera_status->p1, camera_status->p2, camera_status->p3, camera_status->p4); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)camera_status, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); #endif } #if MAVLINK_MSG_ID_CAMERA_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_camera_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, uint8_t event_id, float p1, float p2, float p3, float p4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, p1); _mav_put_float(buf, 12, p2); _mav_put_float(buf, 16, p3); _mav_put_float(buf, 20, p4); _mav_put_uint16_t(buf, 24, img_idx); _mav_put_uint8_t(buf, 26, target_system); _mav_put_uint8_t(buf, 27, cam_idx); _mav_put_uint8_t(buf, 28, event_id); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, buf, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); #else mavlink_camera_status_t *packet = (mavlink_camera_status_t *)msgbuf; packet->time_usec = time_usec; packet->p1 = p1; packet->p2 = p2; packet->p3 = p3; packet->p4 = p4; packet->img_idx = img_idx; packet->target_system = target_system; packet->cam_idx = cam_idx; packet->event_id = event_id; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_STATUS, (const char *)packet, MAVLINK_MSG_ID_CAMERA_STATUS_MIN_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_LEN, MAVLINK_MSG_ID_CAMERA_STATUS_CRC); #endif } #endif #endif // MESSAGE CAMERA_STATUS UNPACKING /** * @brief Get field time_usec from camera_status message * * @return [us] Image timestamp (since UNIX epoch, according to camera clock). */ static inline uint64_t mavlink_msg_camera_status_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field target_system from camera_status message * * @return System ID. */ static inline uint8_t mavlink_msg_camera_status_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 26); } /** * @brief Get field cam_idx from camera_status message * * @return Camera ID. */ static inline uint8_t mavlink_msg_camera_status_get_cam_idx(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 27); } /** * @brief Get field img_idx from camera_status message * * @return Image index. */ static inline uint16_t mavlink_msg_camera_status_get_img_idx(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 24); } /** * @brief Get field event_id from camera_status message * * @return Event type. */ static inline uint8_t mavlink_msg_camera_status_get_event_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 28); } /** * @brief Get field p1 from camera_status message * * @return Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). */ static inline float mavlink_msg_camera_status_get_p1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field p2 from camera_status message * * @return Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). */ static inline float mavlink_msg_camera_status_get_p2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field p3 from camera_status message * * @return Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). */ static inline float mavlink_msg_camera_status_get_p3(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field p4 from camera_status message * * @return Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum). */ static inline float mavlink_msg_camera_status_get_p4(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Decode a camera_status message into a struct * * @param msg The message to decode * @param camera_status C-struct to decode the message contents into */ static inline void mavlink_msg_camera_status_decode(const mavlink_message_t* msg, mavlink_camera_status_t* camera_status) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS camera_status->time_usec = mavlink_msg_camera_status_get_time_usec(msg); camera_status->p1 = mavlink_msg_camera_status_get_p1(msg); camera_status->p2 = mavlink_msg_camera_status_get_p2(msg); camera_status->p3 = mavlink_msg_camera_status_get_p3(msg); camera_status->p4 = mavlink_msg_camera_status_get_p4(msg); camera_status->img_idx = mavlink_msg_camera_status_get_img_idx(msg); camera_status->target_system = mavlink_msg_camera_status_get_target_system(msg); camera_status->cam_idx = mavlink_msg_camera_status_get_cam_idx(msg); camera_status->event_id = mavlink_msg_camera_status_get_event_id(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_STATUS_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_STATUS_LEN; memset(camera_status, 0, MAVLINK_MSG_ID_CAMERA_STATUS_LEN); memcpy(camera_status, _MAV_PAYLOAD(msg), len); #endif }