1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
364 lines
16 KiB
C
364 lines
16 KiB
C
#pragma once
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// MESSAGE COLLISION PACKING
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#define MAVLINK_MSG_ID_COLLISION 247
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MAVPACKED(
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typedef struct __mavlink_collision_t {
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uint32_t id; /*< Unique identifier, domain based on src field*/
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float time_to_minimum_delta; /*< [s] Estimated time until collision occurs*/
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float altitude_minimum_delta; /*< [m] Closest vertical distance between vehicle and object*/
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float horizontal_minimum_delta; /*< [m] Closest horizontal distance between vehicle and object*/
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uint8_t src; /*< Collision data source*/
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uint8_t action; /*< Action that is being taken to avoid this collision*/
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uint8_t threat_level; /*< How concerned the aircraft is about this collision*/
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}) mavlink_collision_t;
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#define MAVLINK_MSG_ID_COLLISION_LEN 19
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#define MAVLINK_MSG_ID_COLLISION_MIN_LEN 19
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#define MAVLINK_MSG_ID_247_LEN 19
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#define MAVLINK_MSG_ID_247_MIN_LEN 19
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#define MAVLINK_MSG_ID_COLLISION_CRC 81
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#define MAVLINK_MSG_ID_247_CRC 81
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_COLLISION { \
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247, \
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"COLLISION", \
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7, \
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{ { "src", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_collision_t, src) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_collision_t, id) }, \
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{ "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_collision_t, action) }, \
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{ "threat_level", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_collision_t, threat_level) }, \
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{ "time_to_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_collision_t, time_to_minimum_delta) }, \
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{ "altitude_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_collision_t, altitude_minimum_delta) }, \
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{ "horizontal_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_collision_t, horizontal_minimum_delta) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_COLLISION { \
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"COLLISION", \
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7, \
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{ { "src", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_collision_t, src) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_collision_t, id) }, \
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{ "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_collision_t, action) }, \
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{ "threat_level", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_collision_t, threat_level) }, \
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{ "time_to_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_collision_t, time_to_minimum_delta) }, \
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{ "altitude_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_collision_t, altitude_minimum_delta) }, \
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{ "horizontal_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_collision_t, horizontal_minimum_delta) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a collision 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 src Collision data source
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* @param id Unique identifier, domain based on src field
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* @param action Action that is being taken to avoid this collision
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* @param threat_level How concerned the aircraft is about this collision
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* @param time_to_minimum_delta [s] Estimated time until collision occurs
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* @param altitude_minimum_delta [m] Closest vertical distance between vehicle and object
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* @param horizontal_minimum_delta [m] Closest horizontal distance between vehicle and object
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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_collision_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
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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_COLLISION_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_float(buf, 4, time_to_minimum_delta);
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_mav_put_float(buf, 8, altitude_minimum_delta);
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_mav_put_float(buf, 12, horizontal_minimum_delta);
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_mav_put_uint8_t(buf, 16, src);
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_mav_put_uint8_t(buf, 17, action);
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_mav_put_uint8_t(buf, 18, threat_level);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COLLISION_LEN);
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#else
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mavlink_collision_t packet;
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packet.id = id;
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packet.time_to_minimum_delta = time_to_minimum_delta;
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packet.altitude_minimum_delta = altitude_minimum_delta;
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packet.horizontal_minimum_delta = horizontal_minimum_delta;
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packet.src = src;
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packet.action = action;
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packet.threat_level = threat_level;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COLLISION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COLLISION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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}
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/**
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* @brief Pack a collision 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 src Collision data source
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* @param id Unique identifier, domain based on src field
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* @param action Action that is being taken to avoid this collision
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* @param threat_level How concerned the aircraft is about this collision
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* @param time_to_minimum_delta [s] Estimated time until collision occurs
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* @param altitude_minimum_delta [m] Closest vertical distance between vehicle and object
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* @param horizontal_minimum_delta [m] Closest horizontal distance between vehicle and object
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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_collision_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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uint8_t src,uint32_t id,uint8_t action,uint8_t threat_level,float time_to_minimum_delta,float altitude_minimum_delta,float horizontal_minimum_delta)
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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_COLLISION_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_float(buf, 4, time_to_minimum_delta);
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_mav_put_float(buf, 8, altitude_minimum_delta);
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_mav_put_float(buf, 12, horizontal_minimum_delta);
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_mav_put_uint8_t(buf, 16, src);
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_mav_put_uint8_t(buf, 17, action);
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_mav_put_uint8_t(buf, 18, threat_level);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COLLISION_LEN);
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#else
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mavlink_collision_t packet;
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packet.id = id;
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packet.time_to_minimum_delta = time_to_minimum_delta;
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packet.altitude_minimum_delta = altitude_minimum_delta;
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packet.horizontal_minimum_delta = horizontal_minimum_delta;
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packet.src = src;
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packet.action = action;
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packet.threat_level = threat_level;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COLLISION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_COLLISION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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}
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/**
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* @brief Encode a collision 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 collision C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_collision_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_collision_t* collision)
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{
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return mavlink_msg_collision_pack(system_id, component_id, msg, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
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}
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/**
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* @brief Encode a collision 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 collision C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_collision_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_collision_t* collision)
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{
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return mavlink_msg_collision_pack_chan(system_id, component_id, chan, msg, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
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}
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/**
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* @brief Send a collision message
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* @param chan MAVLink channel to send the message
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*
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* @param src Collision data source
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* @param id Unique identifier, domain based on src field
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* @param action Action that is being taken to avoid this collision
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* @param threat_level How concerned the aircraft is about this collision
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* @param time_to_minimum_delta [s] Estimated time until collision occurs
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* @param altitude_minimum_delta [m] Closest vertical distance between vehicle and object
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* @param horizontal_minimum_delta [m] Closest horizontal distance between vehicle and object
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_collision_send(mavlink_channel_t chan, uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
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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_COLLISION_LEN];
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_mav_put_uint32_t(buf, 0, id);
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_mav_put_float(buf, 4, time_to_minimum_delta);
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_mav_put_float(buf, 8, altitude_minimum_delta);
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_mav_put_float(buf, 12, horizontal_minimum_delta);
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_mav_put_uint8_t(buf, 16, src);
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_mav_put_uint8_t(buf, 17, action);
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_mav_put_uint8_t(buf, 18, threat_level);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, buf, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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#else
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mavlink_collision_t packet;
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packet.id = id;
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packet.time_to_minimum_delta = time_to_minimum_delta;
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packet.altitude_minimum_delta = altitude_minimum_delta;
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packet.horizontal_minimum_delta = horizontal_minimum_delta;
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packet.src = src;
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packet.action = action;
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packet.threat_level = threat_level;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)&packet, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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#endif
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}
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/**
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* @brief Send a collision 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_collision_send_struct(mavlink_channel_t chan, const mavlink_collision_t* collision)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_collision_send(chan, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)collision, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_COLLISION_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_collision_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
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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_uint32_t(buf, 0, id);
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_mav_put_float(buf, 4, time_to_minimum_delta);
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_mav_put_float(buf, 8, altitude_minimum_delta);
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_mav_put_float(buf, 12, horizontal_minimum_delta);
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_mav_put_uint8_t(buf, 16, src);
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_mav_put_uint8_t(buf, 17, action);
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_mav_put_uint8_t(buf, 18, threat_level);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, buf, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
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#else
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mavlink_collision_t *packet = (mavlink_collision_t *)msgbuf;
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packet->id = id;
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packet->time_to_minimum_delta = time_to_minimum_delta;
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packet->altitude_minimum_delta = altitude_minimum_delta;
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packet->horizontal_minimum_delta = horizontal_minimum_delta;
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packet->src = src;
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packet->action = action;
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packet->threat_level = threat_level;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)packet, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_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 COLLISION UNPACKING
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/**
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* @brief Get field src from collision message
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*
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* @return Collision data source
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*/
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static inline uint8_t mavlink_msg_collision_get_src(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 16);
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}
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/**
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* @brief Get field id from collision message
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*
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* @return Unique identifier, domain based on src field
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*/
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static inline uint32_t mavlink_msg_collision_get_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field action from collision message
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*
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* @return Action that is being taken to avoid this collision
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*/
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static inline uint8_t mavlink_msg_collision_get_action(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 17);
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}
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/**
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* @brief Get field threat_level from collision message
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*
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* @return How concerned the aircraft is about this collision
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*/
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static inline uint8_t mavlink_msg_collision_get_threat_level(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 18);
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}
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/**
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* @brief Get field time_to_minimum_delta from collision message
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*
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* @return [s] Estimated time until collision occurs
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*/
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static inline float mavlink_msg_collision_get_time_to_minimum_delta(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field altitude_minimum_delta from collision message
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*
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* @return [m] Closest vertical distance between vehicle and object
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*/
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static inline float mavlink_msg_collision_get_altitude_minimum_delta(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field horizontal_minimum_delta from collision message
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*
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* @return [m] Closest horizontal distance between vehicle and object
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*/
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static inline float mavlink_msg_collision_get_horizontal_minimum_delta(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Decode a collision message into a struct
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*
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* @param msg The message to decode
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* @param collision C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_collision_decode(const mavlink_message_t* msg, mavlink_collision_t* collision)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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collision->id = mavlink_msg_collision_get_id(msg);
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collision->time_to_minimum_delta = mavlink_msg_collision_get_time_to_minimum_delta(msg);
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collision->altitude_minimum_delta = mavlink_msg_collision_get_altitude_minimum_delta(msg);
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collision->horizontal_minimum_delta = mavlink_msg_collision_get_horizontal_minimum_delta(msg);
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collision->src = mavlink_msg_collision_get_src(msg);
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collision->action = mavlink_msg_collision_get_action(msg);
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collision->threat_level = mavlink_msg_collision_get_threat_level(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_COLLISION_LEN? msg->len : MAVLINK_MSG_ID_COLLISION_LEN;
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memset(collision, 0, MAVLINK_MSG_ID_COLLISION_LEN);
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memcpy(collision, _MAV_PAYLOAD(msg), len);
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#endif
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}
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