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
231 lines
9.7 KiB
C
231 lines
9.7 KiB
C
#pragma once
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// MESSAGE ENCAPSULATED_DATA PACKING
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#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
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MAVPACKED(
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typedef struct __mavlink_encapsulated_data_t {
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uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
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uint8_t data[253]; /*< image data bytes*/
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}) mavlink_encapsulated_data_t;
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#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
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#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN 255
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#define MAVLINK_MSG_ID_131_LEN 255
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#define MAVLINK_MSG_ID_131_MIN_LEN 255
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#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
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#define MAVLINK_MSG_ID_131_CRC 223
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#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
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131, \
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"ENCAPSULATED_DATA", \
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2, \
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{ { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
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"ENCAPSULATED_DATA", \
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2, \
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{ { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
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{ "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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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_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t seqnr, const uint8_t *data)
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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_ENCAPSULATED_DATA_LEN];
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_mav_put_uint16_t(buf, 0, seqnr);
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_mav_put_uint8_t_array(buf, 2, data, 253);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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#else
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mavlink_encapsulated_data_t packet;
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packet.seqnr = seqnr;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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}
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/**
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* @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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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_encapsulated_data_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 seqnr,const uint8_t *data)
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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_ENCAPSULATED_DATA_LEN];
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_mav_put_uint16_t(buf, 0, seqnr);
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_mav_put_uint8_t_array(buf, 2, data, 253);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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#else
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mavlink_encapsulated_data_t packet;
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packet.seqnr = seqnr;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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}
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/**
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* @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
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{
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return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
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}
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/**
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* @brief Encode a encapsulated_data 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 encapsulated_data C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
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{
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return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
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}
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/**
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* @brief Send a encapsulated_data message
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* @param chan MAVLink channel to send the message
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*
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* @param seqnr sequence number (starting with 0 on every transmission)
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* @param data image data bytes
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
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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_ENCAPSULATED_DATA_LEN];
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_mav_put_uint16_t(buf, 0, seqnr);
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_mav_put_uint8_t_array(buf, 2, data, 253);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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#else
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mavlink_encapsulated_data_t packet;
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packet.seqnr = seqnr;
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mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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#endif
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}
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/**
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* @brief Send a encapsulated_data 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_encapsulated_data_send_struct(mavlink_channel_t chan, const mavlink_encapsulated_data_t* encapsulated_data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_encapsulated_data_send(chan, encapsulated_data->seqnr, encapsulated_data->data);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)encapsulated_data, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ENCAPSULATED_DATA_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_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
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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, seqnr);
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_mav_put_uint8_t_array(buf, 2, data, 253);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
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#else
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mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
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packet->seqnr = seqnr;
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mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_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 ENCAPSULATED_DATA UNPACKING
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/**
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* @brief Get field seqnr from encapsulated_data message
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*
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* @return sequence number (starting with 0 on every transmission)
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(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 data from encapsulated_data message
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*
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* @return image data bytes
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*/
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static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
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{
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return _MAV_RETURN_uint8_t_array(msg, data, 253, 2);
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}
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/**
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* @brief Decode a encapsulated_data message into a struct
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*
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* @param msg The message to decode
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* @param encapsulated_data C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
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mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN? msg->len : MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN;
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memset(encapsulated_data, 0, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
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memcpy(encapsulated_data, _MAV_PAYLOAD(msg), len);
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#endif
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}
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