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118 lines
3.8 KiB
118 lines
3.8 KiB
// MESSAGE ACTION_ACK PACKING |
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#define MAVLINK_MSG_ID_ACTION_ACK 9 |
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typedef struct __mavlink_action_ack_t |
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{ |
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uint8_t action; ///< The action id |
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uint8_t result; ///< 0: Action DENIED, 1: Action executed |
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} mavlink_action_ack_t; |
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/** |
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* @brief Pack a action_ack 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 action The action id |
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* @param result 0: Action DENIED, 1: Action executed |
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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_action_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t action, uint8_t result) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; |
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i += put_uint8_t_by_index(action, i, msg->payload); // The action id |
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i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/** |
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* @brief Pack a action_ack 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 chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param action The action id |
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* @param result 0: Action DENIED, 1: Action executed |
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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_action_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t action, uint8_t result) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_ACTION_ACK; |
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i += put_uint8_t_by_index(action, i, msg->payload); // The action id |
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i += put_uint8_t_by_index(result, i, msg->payload); // 0: Action DENIED, 1: Action executed |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/** |
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* @brief Encode a action_ack struct into a message |
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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 action_ack C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_action_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_action_ack_t* action_ack) |
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{ |
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return mavlink_msg_action_ack_pack(system_id, component_id, msg, action_ack->action, action_ack->result); |
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} |
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/** |
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* @brief Send a action_ack message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param action The action id |
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* @param result 0: Action DENIED, 1: Action executed |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_action_ack_send(mavlink_channel_t chan, uint8_t action, uint8_t result) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_action_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, action, result); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE ACTION_ACK UNPACKING |
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/** |
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* @brief Get field action from action_ack message |
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* |
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* @return The action id |
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*/ |
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static inline uint8_t mavlink_msg_action_ack_get_action(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload)[0]; |
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} |
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/** |
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* @brief Get field result from action_ack message |
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* |
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* @return 0: Action DENIED, 1: Action executed |
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*/ |
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static inline uint8_t mavlink_msg_action_ack_get_result(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
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} |
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/** |
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* @brief Decode a action_ack message into a struct |
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* |
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* @param msg The message to decode |
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* @param action_ack C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_action_ack_decode(const mavlink_message_t* msg, mavlink_action_ack_t* action_ack) |
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{ |
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action_ack->action = mavlink_msg_action_ack_get_action(msg); |
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action_ack->result = mavlink_msg_action_ack_get_result(msg); |
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}
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