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249 lines
9.8 KiB
249 lines
9.8 KiB
// MESSAGE BRIEF_FEATURE PACKING |
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#define MAVLINK_MSG_ID_BRIEF_FEATURE 172 |
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typedef struct __mavlink_brief_feature_t |
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{ |
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float x; ///< x position in m |
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float y; ///< y position in m |
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float z; ///< z position in m |
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uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true |
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uint16_t size; ///< Size in pixels |
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uint16_t orientation; ///< Orientation |
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uint8_t descriptor[32]; ///< Descriptor |
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float response; ///< Harris operator response at this location |
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} mavlink_brief_feature_t; |
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#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32 |
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/** |
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* @brief Pack a brief_feature 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 x x position in m |
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* @param y y position in m |
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* @param z z position in m |
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* @param orientation_assignment Orientation assignment 0: false, 1:true |
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* @param size Size in pixels |
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* @param orientation Orientation |
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* @param descriptor Descriptor |
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* @param response Harris operator response at this location |
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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_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) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; |
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i += put_float_by_index(x, i, msg->payload); // x position in m |
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i += put_float_by_index(y, i, msg->payload); // y position in m |
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i += put_float_by_index(z, i, msg->payload); // z position in m |
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i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true |
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i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels |
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i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation |
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i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor |
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i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location |
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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 brief_feature 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 x x position in m |
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* @param y y position in m |
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* @param z z position in m |
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* @param orientation_assignment Orientation assignment 0: false, 1:true |
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* @param size Size in pixels |
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* @param orientation Orientation |
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* @param descriptor Descriptor |
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* @param response Harris operator response at this location |
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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_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) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE; |
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i += put_float_by_index(x, i, msg->payload); // x position in m |
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i += put_float_by_index(y, i, msg->payload); // y position in m |
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i += put_float_by_index(z, i, msg->payload); // z position in m |
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i += put_uint8_t_by_index(orientation_assignment, i, msg->payload); // Orientation assignment 0: false, 1:true |
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i += put_uint16_t_by_index(size, i, msg->payload); // Size in pixels |
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i += put_uint16_t_by_index(orientation, i, msg->payload); // Orientation |
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i += put_array_by_index((const int8_t*)descriptor, sizeof(uint8_t)*32, i, msg->payload); // Descriptor |
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i += put_float_by_index(response, i, msg->payload); // Harris operator response at this location |
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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 brief_feature 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 brief_feature C-struct to read the message contents from |
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*/ |
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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) |
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{ |
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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); |
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} |
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/** |
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* @brief Send a brief_feature message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param x x position in m |
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* @param y y position in m |
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* @param z z position in m |
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* @param orientation_assignment Orientation assignment 0: false, 1:true |
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* @param size Size in pixels |
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* @param orientation Orientation |
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* @param descriptor Descriptor |
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* @param response Harris operator response at this location |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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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) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_brief_feature_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, orientation_assignment, size, orientation, descriptor, response); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE BRIEF_FEATURE UNPACKING |
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/** |
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* @brief Get field x from brief_feature message |
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* |
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* @return x position in m |
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*/ |
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static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload)[0]; |
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r.b[2] = (msg->payload)[1]; |
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r.b[1] = (msg->payload)[2]; |
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r.b[0] = (msg->payload)[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field y from brief_feature message |
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* |
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* @return y position in m |
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*/ |
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static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(float))[0]; |
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r.b[2] = (msg->payload+sizeof(float))[1]; |
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r.b[1] = (msg->payload+sizeof(float))[2]; |
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r.b[0] = (msg->payload+sizeof(float))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field z from brief_feature message |
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* |
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* @return z position in m |
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*/ |
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static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; |
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; |
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; |
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Get field orientation_assignment from brief_feature message |
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* |
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* @return Orientation assignment 0: false, 1:true |
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*/ |
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static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg) |
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{ |
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return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
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} |
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/** |
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* @brief Get field size from brief_feature message |
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* |
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* @return Size in pixels |
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*/ |
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static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0]; |
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[1]; |
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return (uint16_t)r.s; |
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} |
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/** |
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* @brief Get field orientation from brief_feature message |
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* |
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* @return Orientation |
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*/ |
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static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t))[1]; |
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return (uint16_t)r.s; |
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} |
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/** |
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* @brief Get field descriptor from brief_feature message |
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* |
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* @return Descriptor |
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*/ |
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static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* r_data) |
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{ |
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memcpy(r_data, msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t), sizeof(uint8_t)*32); |
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return sizeof(uint8_t)*32; |
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} |
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/** |
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* @brief Get field response from brief_feature message |
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* |
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* @return Harris operator response at this location |
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*/ |
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static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg) |
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{ |
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generic_32bit r; |
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r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[0]; |
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r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[1]; |
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r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[2]; |
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r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)*32)[3]; |
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return (float)r.f; |
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} |
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/** |
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* @brief Decode a brief_feature message into a struct |
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* |
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* @param msg The message to decode |
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* @param brief_feature C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature) |
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{ |
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brief_feature->x = mavlink_msg_brief_feature_get_x(msg); |
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brief_feature->y = mavlink_msg_brief_feature_get_y(msg); |
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brief_feature->z = mavlink_msg_brief_feature_get_z(msg); |
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brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg); |
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brief_feature->size = mavlink_msg_brief_feature_get_size(msg); |
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brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg); |
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mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor); |
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brief_feature->response = mavlink_msg_brief_feature_get_response(msg); |
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}
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