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
306 lines
19 KiB
C
306 lines
19 KiB
C
#pragma once
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// MESSAGE V2_EXTENSION PACKING
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#define MAVLINK_MSG_ID_V2_EXTENSION 248
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MAVPACKED(
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typedef struct __mavlink_v2_extension_t {
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uint16_t message_type; /*< A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.*/
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uint8_t target_network; /*< Network ID (0 for broadcast)*/
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uint8_t target_system; /*< System ID (0 for broadcast)*/
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uint8_t target_component; /*< Component ID (0 for broadcast)*/
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uint8_t payload[249]; /*< Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.*/
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}) mavlink_v2_extension_t;
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#define MAVLINK_MSG_ID_V2_EXTENSION_LEN 254
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#define MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN 254
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#define MAVLINK_MSG_ID_248_LEN 254
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#define MAVLINK_MSG_ID_248_MIN_LEN 254
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#define MAVLINK_MSG_ID_V2_EXTENSION_CRC 8
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#define MAVLINK_MSG_ID_248_CRC 8
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#define MAVLINK_MSG_V2_EXTENSION_FIELD_PAYLOAD_LEN 249
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \
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248, \
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"V2_EXTENSION", \
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5, \
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{ { "target_network", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \
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{ "message_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \
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{ "payload", NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_V2_EXTENSION { \
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"V2_EXTENSION", \
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5, \
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{ { "target_network", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_v2_extension_t, target_network) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_v2_extension_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_v2_extension_t, target_component) }, \
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{ "message_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_v2_extension_t, message_type) }, \
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{ "payload", NULL, MAVLINK_TYPE_UINT8_T, 249, 5, offsetof(mavlink_v2_extension_t, payload) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a v2_extension 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 target_network Network ID (0 for broadcast)
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* @param target_system System ID (0 for broadcast)
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* @param target_component Component ID (0 for broadcast)
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* @param message_type A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
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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_v2_extension_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, const uint8_t *payload)
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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_V2_EXTENSION_LEN];
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_mav_put_uint16_t(buf, 0, message_type);
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_mav_put_uint8_t(buf, 2, target_network);
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_mav_put_uint8_t(buf, 3, target_system);
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_mav_put_uint8_t(buf, 4, target_component);
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_mav_put_uint8_t_array(buf, 5, payload, 249);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
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#else
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mavlink_v2_extension_t packet;
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packet.message_type = message_type;
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packet.target_network = target_network;
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packet.target_system = target_system;
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packet.target_component = target_component;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_V2_EXTENSION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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}
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/**
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* @brief Pack a v2_extension 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 target_network Network ID (0 for broadcast)
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* @param target_system System ID (0 for broadcast)
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* @param target_component Component ID (0 for broadcast)
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* @param message_type A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
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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_v2_extension_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 target_network,uint8_t target_system,uint8_t target_component,uint16_t message_type,const uint8_t *payload)
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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_V2_EXTENSION_LEN];
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_mav_put_uint16_t(buf, 0, message_type);
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_mav_put_uint8_t(buf, 2, target_network);
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_mav_put_uint8_t(buf, 3, target_system);
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_mav_put_uint8_t(buf, 4, target_component);
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_mav_put_uint8_t_array(buf, 5, payload, 249);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
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#else
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mavlink_v2_extension_t packet;
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packet.message_type = message_type;
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packet.target_network = target_network;
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packet.target_system = target_system;
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packet.target_component = target_component;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_V2_EXTENSION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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}
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/**
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* @brief Encode a v2_extension 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 v2_extension C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_v2_extension_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_v2_extension_t* v2_extension)
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{
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return mavlink_msg_v2_extension_pack(system_id, component_id, msg, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
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}
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/**
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* @brief Encode a v2_extension 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 v2_extension C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_v2_extension_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_v2_extension_t* v2_extension)
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{
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return mavlink_msg_v2_extension_pack_chan(system_id, component_id, chan, msg, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
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}
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/**
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* @brief Send a v2_extension message
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* @param chan MAVLink channel to send the message
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*
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* @param target_network Network ID (0 for broadcast)
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* @param target_system System ID (0 for broadcast)
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* @param target_component Component ID (0 for broadcast)
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* @param message_type A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_v2_extension_send(mavlink_channel_t chan, uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, const uint8_t *payload)
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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_V2_EXTENSION_LEN];
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_mav_put_uint16_t(buf, 0, message_type);
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_mav_put_uint8_t(buf, 2, target_network);
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_mav_put_uint8_t(buf, 3, target_system);
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_mav_put_uint8_t(buf, 4, target_component);
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_mav_put_uint8_t_array(buf, 5, payload, 249);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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#else
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mavlink_v2_extension_t packet;
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packet.message_type = message_type;
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packet.target_network = target_network;
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packet.target_system = target_system;
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packet.target_component = target_component;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*249);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)&packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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#endif
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}
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/**
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* @brief Send a v2_extension 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_v2_extension_send_struct(mavlink_channel_t chan, const mavlink_v2_extension_t* v2_extension)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_v2_extension_send(chan, v2_extension->target_network, v2_extension->target_system, v2_extension->target_component, v2_extension->message_type, v2_extension->payload);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)v2_extension, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_V2_EXTENSION_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_v2_extension_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_network, uint8_t target_system, uint8_t target_component, uint16_t message_type, const uint8_t *payload)
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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, message_type);
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_mav_put_uint8_t(buf, 2, target_network);
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_mav_put_uint8_t(buf, 3, target_system);
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_mav_put_uint8_t(buf, 4, target_component);
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_mav_put_uint8_t_array(buf, 5, payload, 249);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, buf, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_CRC);
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#else
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mavlink_v2_extension_t *packet = (mavlink_v2_extension_t *)msgbuf;
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packet->message_type = message_type;
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packet->target_network = target_network;
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packet->target_system = target_system;
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packet->target_component = target_component;
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mav_array_memcpy(packet->payload, payload, sizeof(uint8_t)*249);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_V2_EXTENSION, (const char *)packet, MAVLINK_MSG_ID_V2_EXTENSION_MIN_LEN, MAVLINK_MSG_ID_V2_EXTENSION_LEN, MAVLINK_MSG_ID_V2_EXTENSION_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 V2_EXTENSION UNPACKING
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/**
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* @brief Get field target_network from v2_extension message
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*
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* @return Network ID (0 for broadcast)
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*/
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static inline uint8_t mavlink_msg_v2_extension_get_target_network(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 2);
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}
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/**
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* @brief Get field target_system from v2_extension message
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*
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* @return System ID (0 for broadcast)
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*/
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static inline uint8_t mavlink_msg_v2_extension_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 3);
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}
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/**
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* @brief Get field target_component from v2_extension message
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*
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* @return Component ID (0 for broadcast)
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*/
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static inline uint8_t mavlink_msg_v2_extension_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 4);
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}
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/**
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* @brief Get field message_type from v2_extension message
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*
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* @return A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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*/
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static inline uint16_t mavlink_msg_v2_extension_get_message_type(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 payload from v2_extension message
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*
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* @return Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
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*/
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static inline uint16_t mavlink_msg_v2_extension_get_payload(const mavlink_message_t* msg, uint8_t *payload)
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{
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return _MAV_RETURN_uint8_t_array(msg, payload, 249, 5);
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}
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/**
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* @brief Decode a v2_extension message into a struct
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*
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* @param msg The message to decode
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* @param v2_extension C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_v2_extension_decode(const mavlink_message_t* msg, mavlink_v2_extension_t* v2_extension)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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v2_extension->message_type = mavlink_msg_v2_extension_get_message_type(msg);
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v2_extension->target_network = mavlink_msg_v2_extension_get_target_network(msg);
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v2_extension->target_system = mavlink_msg_v2_extension_get_target_system(msg);
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v2_extension->target_component = mavlink_msg_v2_extension_get_target_component(msg);
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mavlink_msg_v2_extension_get_payload(msg, v2_extension->payload);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_V2_EXTENSION_LEN? msg->len : MAVLINK_MSG_ID_V2_EXTENSION_LEN;
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memset(v2_extension, 0, MAVLINK_MSG_ID_V2_EXTENSION_LEN);
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memcpy(v2_extension, _MAV_PAYLOAD(msg), len);
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#endif
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}
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