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
289 lines
12 KiB
C
289 lines
12 KiB
C
#pragma once
|
|
// MESSAGE FENCE_STATUS PACKING
|
|
|
|
#define MAVLINK_MSG_ID_FENCE_STATUS 162
|
|
|
|
MAVPACKED(
|
|
typedef struct __mavlink_fence_status_t {
|
|
uint32_t breach_time; /*< [ms] Time (since boot) of last breach.*/
|
|
uint16_t breach_count; /*< Number of fence breaches.*/
|
|
uint8_t breach_status; /*< Breach status (0 if currently inside fence, 1 if outside).*/
|
|
uint8_t breach_type; /*< Last breach type.*/
|
|
}) mavlink_fence_status_t;
|
|
|
|
#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
|
|
#define MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN 8
|
|
#define MAVLINK_MSG_ID_162_LEN 8
|
|
#define MAVLINK_MSG_ID_162_MIN_LEN 8
|
|
|
|
#define MAVLINK_MSG_ID_FENCE_STATUS_CRC 189
|
|
#define MAVLINK_MSG_ID_162_CRC 189
|
|
|
|
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
|
|
162, \
|
|
"FENCE_STATUS", \
|
|
4, \
|
|
{ { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_fence_status_t, breach_status) }, \
|
|
{ "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_fence_status_t, breach_count) }, \
|
|
{ "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_fence_status_t, breach_type) }, \
|
|
{ "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fence_status_t, breach_time) }, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
|
|
"FENCE_STATUS", \
|
|
4, \
|
|
{ { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_fence_status_t, breach_status) }, \
|
|
{ "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_fence_status_t, breach_count) }, \
|
|
{ "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_fence_status_t, breach_type) }, \
|
|
{ "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fence_status_t, breach_time) }, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a fence_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 breach_status Breach status (0 if currently inside fence, 1 if outside).
|
|
* @param breach_count Number of fence breaches.
|
|
* @param breach_type Last breach type.
|
|
* @param breach_time [ms] Time (since boot) of last breach.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
|
|
_mav_put_uint32_t(buf, 0, breach_time);
|
|
_mav_put_uint16_t(buf, 4, breach_count);
|
|
_mav_put_uint8_t(buf, 6, breach_status);
|
|
_mav_put_uint8_t(buf, 7, breach_type);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
|
|
#else
|
|
mavlink_fence_status_t packet;
|
|
packet.breach_time = breach_time;
|
|
packet.breach_count = breach_count;
|
|
packet.breach_status = breach_status;
|
|
packet.breach_type = breach_type;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a fence_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 breach_status Breach status (0 if currently inside fence, 1 if outside).
|
|
* @param breach_count Number of fence breaches.
|
|
* @param breach_type Last breach type.
|
|
* @param breach_time [ms] Time (since boot) of last breach.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
|
|
_mav_put_uint32_t(buf, 0, breach_time);
|
|
_mav_put_uint16_t(buf, 4, breach_count);
|
|
_mav_put_uint8_t(buf, 6, breach_status);
|
|
_mav_put_uint8_t(buf, 7, breach_type);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
|
|
#else
|
|
mavlink_fence_status_t packet;
|
|
packet.breach_time = breach_time;
|
|
packet.breach_count = breach_count;
|
|
packet.breach_status = breach_status;
|
|
packet.breach_type = breach_type;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a fence_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 fence_status C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
|
|
{
|
|
return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a fence_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 fence_status C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_fence_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
|
|
{
|
|
return mavlink_msg_fence_status_pack_chan(system_id, component_id, chan, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a fence_status message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param breach_status Breach status (0 if currently inside fence, 1 if outside).
|
|
* @param breach_count Number of fence breaches.
|
|
* @param breach_type Last breach type.
|
|
* @param breach_time [ms] Time (since boot) of last breach.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
|
|
_mav_put_uint32_t(buf, 0, breach_time);
|
|
_mav_put_uint16_t(buf, 4, breach_count);
|
|
_mav_put_uint8_t(buf, 6, breach_status);
|
|
_mav_put_uint8_t(buf, 7, breach_type);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
#else
|
|
mavlink_fence_status_t packet;
|
|
packet.breach_time = breach_time;
|
|
packet.breach_count = breach_count;
|
|
packet.breach_status = breach_status;
|
|
packet.breach_type = breach_type;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a fence_status message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_fence_status_send_struct(mavlink_channel_t chan, const mavlink_fence_status_t* fence_status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_fence_status_send(chan, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)fence_status, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_FENCE_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_fence_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, breach_time);
|
|
_mav_put_uint16_t(buf, 4, breach_count);
|
|
_mav_put_uint8_t(buf, 6, breach_status);
|
|
_mav_put_uint8_t(buf, 7, breach_type);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
#else
|
|
mavlink_fence_status_t *packet = (mavlink_fence_status_t *)msgbuf;
|
|
packet->breach_time = breach_time;
|
|
packet->breach_count = breach_count;
|
|
packet->breach_status = breach_status;
|
|
packet->breach_type = breach_type;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)packet, MAVLINK_MSG_ID_FENCE_STATUS_MIN_LEN, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE FENCE_STATUS UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field breach_status from fence_status message
|
|
*
|
|
* @return Breach status (0 if currently inside fence, 1 if outside).
|
|
*/
|
|
static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 6);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field breach_count from fence_status message
|
|
*
|
|
* @return Number of fence breaches.
|
|
*/
|
|
static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field breach_type from fence_status message
|
|
*
|
|
* @return Last breach type.
|
|
*/
|
|
static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 7);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field breach_time from fence_status message
|
|
*
|
|
* @return [ms] Time (since boot) of last breach.
|
|
*/
|
|
static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a fence_status message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param fence_status C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg);
|
|
fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
|
|
fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
|
|
fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_FENCE_STATUS_LEN? msg->len : MAVLINK_MSG_ID_FENCE_STATUS_LEN;
|
|
memset(fence_status, 0, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
|
|
memcpy(fence_status, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|