mavlink_msg_brief_feature.h 10.1 KB
Newer Older
James Goppert's avatar
James Goppert committed
1 2
// MESSAGE BRIEF_FEATURE PACKING

lm's avatar
lm committed
3
#define MAVLINK_MSG_ID_BRIEF_FEATURE 195
James Goppert's avatar
James Goppert committed
4

lm's avatar
lm committed
5
typedef struct __mavlink_brief_feature_t
James Goppert's avatar
James Goppert committed
6
{
lm's avatar
lm committed
7 8 9 10 11 12 13 14
 float x; ///< x position in m
 float y; ///< y position in m
 float z; ///< z position in m
 float response; ///< Harris operator response at this location
 uint16_t size; ///< Size in pixels
 uint16_t orientation; ///< Orientation
 uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
 uint8_t descriptor[32]; ///< Descriptor
James Goppert's avatar
James Goppert committed
15
} mavlink_brief_feature_t;
lm's avatar
lm committed
16 17 18 19

#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53
#define MAVLINK_MSG_ID_195_LEN 53

James Goppert's avatar
James Goppert committed
20 21
#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32

lm's avatar
lm committed
22 23 24
#define MAVLINK_MESSAGE_INFO_BRIEF_FEATURE { \
	"BRIEF_FEATURE", \
	8, \
lm's avatar
lm committed
25 26 27 28 29 30 31 32
	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_brief_feature_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_brief_feature_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_brief_feature_t, z) }, \
         { "response", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_brief_feature_t, response) }, \
         { "size", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_brief_feature_t, size) }, \
         { "orientation", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_brief_feature_t, orientation) }, \
         { "orientation_assignment", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_brief_feature_t, orientation_assignment) }, \
         { "descriptor", NULL, MAVLINK_TYPE_UINT8_T, 32, 21, offsetof(mavlink_brief_feature_t, descriptor) }, \
lm's avatar
lm committed
33 34 35 36
         } \
}


James Goppert's avatar
James Goppert committed
37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52
/**
 * @brief Pack a brief_feature 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 x x position in m
 * @param y y position in m
 * @param z z position in m
 * @param orientation_assignment Orientation assignment 0: false, 1:true
 * @param size Size in pixels
 * @param orientation Orientation
 * @param descriptor Descriptor
 * @param response Harris operator response at this location
 * @return length of the message in bytes (excluding serial stream start sign)
 */
lm's avatar
lm committed
53 54
static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
						       float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response)
James Goppert's avatar
James Goppert committed
55
{
LM's avatar
LM committed
56 57 58 59 60 61 62 63 64 65
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[53];
	_mav_put_float(buf, 0, x);
	_mav_put_float(buf, 4, y);
	_mav_put_float(buf, 8, z);
	_mav_put_float(buf, 12, response);
	_mav_put_uint16_t(buf, 16, size);
	_mav_put_uint16_t(buf, 18, orientation);
	_mav_put_uint8_t(buf, 20, orientation_assignment);
	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
66
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53);
LM's avatar
LM committed
67 68 69 70 71 72 73 74 75
#else
	mavlink_brief_feature_t packet;
	packet.x = x;
	packet.y = y;
	packet.z = z;
	packet.response = response;
	packet.size = size;
	packet.orientation = orientation;
	packet.orientation_assignment = orientation_assignment;
76
	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
77
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53);
LM's avatar
LM committed
78
#endif
James Goppert's avatar
James Goppert committed
79

LM's avatar
LM committed
80
	msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
lm's avatar
lm committed
81
	return mavlink_finalize_message(msg, system_id, component_id, 53, 88);
James Goppert's avatar
James Goppert committed
82 83 84
}

/**
lm's avatar
lm committed
85
 * @brief Pack a brief_feature message on a channel
James Goppert's avatar
James Goppert committed
86 87 88 89 90 91 92 93 94 95 96 97 98 99
 * @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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param x x position in m
 * @param y y position in m
 * @param z z position in m
 * @param orientation_assignment Orientation assignment 0: false, 1:true
 * @param size Size in pixels
 * @param orientation Orientation
 * @param descriptor Descriptor
 * @param response Harris operator response at this location
 * @return length of the message in bytes (excluding serial stream start sign)
 */
lm's avatar
lm committed
100 101 102 103
static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
						           float x,float y,float z,uint8_t orientation_assignment,uint16_t size,uint16_t orientation,const uint8_t *descriptor,float response)
{
LM's avatar
LM committed
104 105 106 107 108 109 110 111 112 113
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[53];
	_mav_put_float(buf, 0, x);
	_mav_put_float(buf, 4, y);
	_mav_put_float(buf, 8, z);
	_mav_put_float(buf, 12, response);
	_mav_put_uint16_t(buf, 16, size);
	_mav_put_uint16_t(buf, 18, orientation);
	_mav_put_uint8_t(buf, 20, orientation_assignment);
	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
114
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 53);
LM's avatar
LM committed
115 116 117 118 119 120 121 122 123
#else
	mavlink_brief_feature_t packet;
	packet.x = x;
	packet.y = y;
	packet.z = z;
	packet.response = response;
	packet.size = size;
	packet.orientation = orientation;
	packet.orientation_assignment = orientation_assignment;
124
	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
125
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 53);
LM's avatar
LM committed
126
#endif
lm's avatar
lm committed
127

LM's avatar
LM committed
128
	msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
lm's avatar
lm committed
129 130 131
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 53, 88);
}

James Goppert's avatar
James Goppert committed
132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157
/**
 * @brief Encode a brief_feature struct into a 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 brief_feature C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
{
	return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
}

/**
 * @brief Send a brief_feature message
 * @param chan MAVLink channel to send the message
 *
 * @param x x position in m
 * @param y y position in m
 * @param z z position in m
 * @param orientation_assignment Orientation assignment 0: false, 1:true
 * @param size Size in pixels
 * @param orientation Orientation
 * @param descriptor Descriptor
 * @param response Harris operator response at this location
 */
lm's avatar
lm committed
158 159 160
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response)
lm's avatar
lm committed
161
{
LM's avatar
LM committed
162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[53];
	_mav_put_float(buf, 0, x);
	_mav_put_float(buf, 4, y);
	_mav_put_float(buf, 8, z);
	_mav_put_float(buf, 12, response);
	_mav_put_uint16_t(buf, 16, size);
	_mav_put_uint16_t(buf, 18, orientation);
	_mav_put_uint8_t(buf, 20, orientation_assignment);
	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, 53, 88);
#else
	mavlink_brief_feature_t packet;
	packet.x = x;
	packet.y = y;
	packet.z = z;
	packet.response = response;
	packet.size = size;
	packet.orientation = orientation;
	packet.orientation_assignment = orientation_assignment;
182
	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
LM's avatar
LM committed
183 184
	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)&packet, 53, 88);
#endif
James Goppert's avatar
James Goppert committed
185 186 187
}

#endif
lm's avatar
lm committed
188

James Goppert's avatar
James Goppert committed
189 190
// MESSAGE BRIEF_FEATURE UNPACKING

lm's avatar
lm committed
191

James Goppert's avatar
James Goppert committed
192 193 194 195 196 197 198
/**
 * @brief Get field x from brief_feature message
 *
 * @return x position in m
 */
static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
{
LM's avatar
LM committed
199
	return _MAV_RETURN_float(msg,  0);
James Goppert's avatar
James Goppert committed
200 201 202 203 204 205 206 207 208
}

/**
 * @brief Get field y from brief_feature message
 *
 * @return y position in m
 */
static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg)
{
LM's avatar
LM committed
209
	return _MAV_RETURN_float(msg,  4);
James Goppert's avatar
James Goppert committed
210 211 212 213 214 215 216 217 218
}

/**
 * @brief Get field z from brief_feature message
 *
 * @return z position in m
 */
static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg)
{
LM's avatar
LM committed
219
	return _MAV_RETURN_float(msg,  8);
James Goppert's avatar
James Goppert committed
220 221 222 223 224 225 226 227 228
}

/**
 * @brief Get field orientation_assignment from brief_feature message
 *
 * @return Orientation assignment 0: false, 1:true
 */
static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
{
LM's avatar
LM committed
229
	return _MAV_RETURN_uint8_t(msg,  20);
James Goppert's avatar
James Goppert committed
230 231 232 233 234 235 236 237 238
}

/**
 * @brief Get field size from brief_feature message
 *
 * @return Size in pixels
 */
static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg)
{
LM's avatar
LM committed
239
	return _MAV_RETURN_uint16_t(msg,  16);
James Goppert's avatar
James Goppert committed
240 241 242 243 244 245 246 247 248
}

/**
 * @brief Get field orientation from brief_feature message
 *
 * @return Orientation
 */
static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
{
LM's avatar
LM committed
249
	return _MAV_RETURN_uint16_t(msg,  18);
James Goppert's avatar
James Goppert committed
250 251 252 253 254 255 256
}

/**
 * @brief Get field descriptor from brief_feature message
 *
 * @return Descriptor
 */
lm's avatar
lm committed
257
static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t *descriptor)
James Goppert's avatar
James Goppert committed
258
{
LM's avatar
LM committed
259
	return _MAV_RETURN_uint8_t_array(msg, descriptor, 32,  21);
James Goppert's avatar
James Goppert committed
260 261 262 263 264 265 266 267 268
}

/**
 * @brief Get field response from brief_feature message
 *
 * @return Harris operator response at this location
 */
static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
{
LM's avatar
LM committed
269
	return _MAV_RETURN_float(msg,  12);
James Goppert's avatar
James Goppert committed
270 271 272 273 274 275 276 277 278 279
}

/**
 * @brief Decode a brief_feature message into a struct
 *
 * @param msg The message to decode
 * @param brief_feature C-struct to decode the message contents into
 */
static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
{
lm's avatar
lm committed
280 281 282 283 284 285 286 287 288 289
#if MAVLINK_NEED_BYTE_SWAP
	brief_feature->x = mavlink_msg_brief_feature_get_x(msg);
	brief_feature->y = mavlink_msg_brief_feature_get_y(msg);
	brief_feature->z = mavlink_msg_brief_feature_get_z(msg);
	brief_feature->response = mavlink_msg_brief_feature_get_response(msg);
	brief_feature->size = mavlink_msg_brief_feature_get_size(msg);
	brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg);
	brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg);
	mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor);
#else
LM's avatar
LM committed
290
	memcpy(brief_feature, _MAV_PAYLOAD(msg), 53);
lm's avatar
lm committed
291
#endif
James Goppert's avatar
James Goppert committed
292
}