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mavlink_msg_collision.h
1#pragma once
2// MESSAGE COLLISION PACKING
3
4#define MAVLINK_MSG_ID_COLLISION 247
5
6MAVPACKED(
7typedef struct __mavlink_collision_t {
8 uint32_t id; /*< Unique identifier, domain based on src field*/
9 float time_to_minimum_delta; /*< Estimated time until collision occurs (seconds)*/
10 float altitude_minimum_delta; /*< Closest vertical distance in meters between vehicle and object*/
11 float horizontal_minimum_delta; /*< Closest horizontal distance in meteres between vehicle and object*/
12 uint8_t src; /*< Collision data source*/
13 uint8_t action; /*< Action that is being taken to avoid this collision*/
14 uint8_t threat_level; /*< How concerned the aircraft is about this collision*/
15}) mavlink_collision_t;
16
17#define MAVLINK_MSG_ID_COLLISION_LEN 19
18#define MAVLINK_MSG_ID_COLLISION_MIN_LEN 19
19#define MAVLINK_MSG_ID_247_LEN 19
20#define MAVLINK_MSG_ID_247_MIN_LEN 19
21
22#define MAVLINK_MSG_ID_COLLISION_CRC 81
23#define MAVLINK_MSG_ID_247_CRC 81
24
25
26
27#if MAVLINK_COMMAND_24BIT
28#define MAVLINK_MESSAGE_INFO_COLLISION { \
29 247, \
30 "COLLISION", \
31 7, \
32 { { "src", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_collision_t, src) }, \
33 { "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_collision_t, id) }, \
34 { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_collision_t, action) }, \
35 { "threat_level", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_collision_t, threat_level) }, \
36 { "time_to_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_collision_t, time_to_minimum_delta) }, \
37 { "altitude_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_collision_t, altitude_minimum_delta) }, \
38 { "horizontal_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_collision_t, horizontal_minimum_delta) }, \
39 } \
40}
41#else
42#define MAVLINK_MESSAGE_INFO_COLLISION { \
43 "COLLISION", \
44 7, \
45 { { "src", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_collision_t, src) }, \
46 { "id", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_collision_t, id) }, \
47 { "action", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_collision_t, action) }, \
48 { "threat_level", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_collision_t, threat_level) }, \
49 { "time_to_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_collision_t, time_to_minimum_delta) }, \
50 { "altitude_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_collision_t, altitude_minimum_delta) }, \
51 { "horizontal_minimum_delta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_collision_t, horizontal_minimum_delta) }, \
52 } \
53}
54#endif
55
56/**
57 * @brief Pack a collision message
58 * @param system_id ID of this system
59 * @param component_id ID of this component (e.g. 200 for IMU)
60 * @param msg The MAVLink message to compress the data into
61 *
62 * @param src Collision data source
63 * @param id Unique identifier, domain based on src field
64 * @param action Action that is being taken to avoid this collision
65 * @param threat_level How concerned the aircraft is about this collision
66 * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
67 * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
68 * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
69 * @return length of the message in bytes (excluding serial stream start sign)
70 */
71static inline uint16_t mavlink_msg_collision_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
72 uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
73{
74#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
75 char buf[MAVLINK_MSG_ID_COLLISION_LEN];
76 _mav_put_uint32_t(buf, 0, id);
77 _mav_put_float(buf, 4, time_to_minimum_delta);
78 _mav_put_float(buf, 8, altitude_minimum_delta);
79 _mav_put_float(buf, 12, horizontal_minimum_delta);
80 _mav_put_uint8_t(buf, 16, src);
81 _mav_put_uint8_t(buf, 17, action);
82 _mav_put_uint8_t(buf, 18, threat_level);
83
84 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COLLISION_LEN);
85#else
86 mavlink_collision_t packet;
87 packet.id = id;
88 packet.time_to_minimum_delta = time_to_minimum_delta;
89 packet.altitude_minimum_delta = altitude_minimum_delta;
90 packet.horizontal_minimum_delta = horizontal_minimum_delta;
91 packet.src = src;
92 packet.action = action;
93 packet.threat_level = threat_level;
94
95 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COLLISION_LEN);
96#endif
97
98 msg->msgid = MAVLINK_MSG_ID_COLLISION;
99 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
100}
101
102/**
103 * @brief Pack a collision message on a channel
104 * @param system_id ID of this system
105 * @param component_id ID of this component (e.g. 200 for IMU)
106 * @param chan The MAVLink channel this message will be sent over
107 * @param msg The MAVLink message to compress the data into
108 * @param src Collision data source
109 * @param id Unique identifier, domain based on src field
110 * @param action Action that is being taken to avoid this collision
111 * @param threat_level How concerned the aircraft is about this collision
112 * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
113 * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
114 * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
115 * @return length of the message in bytes (excluding serial stream start sign)
116 */
117static inline uint16_t mavlink_msg_collision_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
118 mavlink_message_t* msg,
119 uint8_t src,uint32_t id,uint8_t action,uint8_t threat_level,float time_to_minimum_delta,float altitude_minimum_delta,float horizontal_minimum_delta)
120{
121#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
122 char buf[MAVLINK_MSG_ID_COLLISION_LEN];
123 _mav_put_uint32_t(buf, 0, id);
124 _mav_put_float(buf, 4, time_to_minimum_delta);
125 _mav_put_float(buf, 8, altitude_minimum_delta);
126 _mav_put_float(buf, 12, horizontal_minimum_delta);
127 _mav_put_uint8_t(buf, 16, src);
128 _mav_put_uint8_t(buf, 17, action);
129 _mav_put_uint8_t(buf, 18, threat_level);
130
131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COLLISION_LEN);
132#else
133 mavlink_collision_t packet;
134 packet.id = id;
135 packet.time_to_minimum_delta = time_to_minimum_delta;
136 packet.altitude_minimum_delta = altitude_minimum_delta;
137 packet.horizontal_minimum_delta = horizontal_minimum_delta;
138 packet.src = src;
139 packet.action = action;
140 packet.threat_level = threat_level;
141
142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COLLISION_LEN);
143#endif
144
145 msg->msgid = MAVLINK_MSG_ID_COLLISION;
146 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
147}
148
149/**
150 * @brief Encode a collision struct
151 *
152 * @param system_id ID of this system
153 * @param component_id ID of this component (e.g. 200 for IMU)
154 * @param msg The MAVLink message to compress the data into
155 * @param collision C-struct to read the message contents from
156 */
157static inline uint16_t mavlink_msg_collision_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_collision_t* collision)
158{
159 return mavlink_msg_collision_pack(system_id, component_id, msg, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
160}
161
162/**
163 * @brief Encode a collision struct on a channel
164 *
165 * @param system_id ID of this system
166 * @param component_id ID of this component (e.g. 200 for IMU)
167 * @param chan The MAVLink channel this message will be sent over
168 * @param msg The MAVLink message to compress the data into
169 * @param collision C-struct to read the message contents from
170 */
171static inline uint16_t mavlink_msg_collision_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_collision_t* collision)
172{
173 return mavlink_msg_collision_pack_chan(system_id, component_id, chan, msg, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
174}
175
176/**
177 * @brief Send a collision message
178 * @param chan MAVLink channel to send the message
179 *
180 * @param src Collision data source
181 * @param id Unique identifier, domain based on src field
182 * @param action Action that is being taken to avoid this collision
183 * @param threat_level How concerned the aircraft is about this collision
184 * @param time_to_minimum_delta Estimated time until collision occurs (seconds)
185 * @param altitude_minimum_delta Closest vertical distance in meters between vehicle and object
186 * @param horizontal_minimum_delta Closest horizontal distance in meteres between vehicle and object
187 */
188#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
189
190static inline void mavlink_msg_collision_send(mavlink_channel_t chan, uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
191{
192#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
193 char buf[MAVLINK_MSG_ID_COLLISION_LEN];
194 _mav_put_uint32_t(buf, 0, id);
195 _mav_put_float(buf, 4, time_to_minimum_delta);
196 _mav_put_float(buf, 8, altitude_minimum_delta);
197 _mav_put_float(buf, 12, horizontal_minimum_delta);
198 _mav_put_uint8_t(buf, 16, src);
199 _mav_put_uint8_t(buf, 17, action);
200 _mav_put_uint8_t(buf, 18, threat_level);
201
202 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, buf, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
203#else
204 mavlink_collision_t packet;
205 packet.id = id;
206 packet.time_to_minimum_delta = time_to_minimum_delta;
207 packet.altitude_minimum_delta = altitude_minimum_delta;
208 packet.horizontal_minimum_delta = horizontal_minimum_delta;
209 packet.src = src;
210 packet.action = action;
211 packet.threat_level = threat_level;
212
213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)&packet, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
214#endif
215}
216
217/**
218 * @brief Send a collision message
219 * @param chan MAVLink channel to send the message
220 * @param struct The MAVLink struct to serialize
221 */
222static inline void mavlink_msg_collision_send_struct(mavlink_channel_t chan, const mavlink_collision_t* collision)
223{
224#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
225 mavlink_msg_collision_send(chan, collision->src, collision->id, collision->action, collision->threat_level, collision->time_to_minimum_delta, collision->altitude_minimum_delta, collision->horizontal_minimum_delta);
226#else
227 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)collision, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
228#endif
229}
230
231#if MAVLINK_MSG_ID_COLLISION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
232/*
233 This varient of _send() can be used to save stack space by re-using
234 memory from the receive buffer. The caller provides a
235 mavlink_message_t which is the size of a full mavlink message. This
236 is usually the receive buffer for the channel, and allows a reply to an
237 incoming message with minimum stack space usage.
238 */
239static inline void mavlink_msg_collision_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t src, uint32_t id, uint8_t action, uint8_t threat_level, float time_to_minimum_delta, float altitude_minimum_delta, float horizontal_minimum_delta)
240{
241#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
242 char *buf = (char *)msgbuf;
243 _mav_put_uint32_t(buf, 0, id);
244 _mav_put_float(buf, 4, time_to_minimum_delta);
245 _mav_put_float(buf, 8, altitude_minimum_delta);
246 _mav_put_float(buf, 12, horizontal_minimum_delta);
247 _mav_put_uint8_t(buf, 16, src);
248 _mav_put_uint8_t(buf, 17, action);
249 _mav_put_uint8_t(buf, 18, threat_level);
250
251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, buf, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
252#else
253 mavlink_collision_t *packet = (mavlink_collision_t *)msgbuf;
254 packet->id = id;
255 packet->time_to_minimum_delta = time_to_minimum_delta;
256 packet->altitude_minimum_delta = altitude_minimum_delta;
257 packet->horizontal_minimum_delta = horizontal_minimum_delta;
258 packet->src = src;
259 packet->action = action;
260 packet->threat_level = threat_level;
261
262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COLLISION, (const char *)packet, MAVLINK_MSG_ID_COLLISION_MIN_LEN, MAVLINK_MSG_ID_COLLISION_LEN, MAVLINK_MSG_ID_COLLISION_CRC);
263#endif
264}
265#endif
266
267#endif
268
269// MESSAGE COLLISION UNPACKING
270
271
272/**
273 * @brief Get field src from collision message
274 *
275 * @return Collision data source
276 */
277static inline uint8_t mavlink_msg_collision_get_src(const mavlink_message_t* msg)
278{
279 return _MAV_RETURN_uint8_t(msg, 16);
280}
281
282/**
283 * @brief Get field id from collision message
284 *
285 * @return Unique identifier, domain based on src field
286 */
287static inline uint32_t mavlink_msg_collision_get_id(const mavlink_message_t* msg)
288{
289 return _MAV_RETURN_uint32_t(msg, 0);
290}
291
292/**
293 * @brief Get field action from collision message
294 *
295 * @return Action that is being taken to avoid this collision
296 */
297static inline uint8_t mavlink_msg_collision_get_action(const mavlink_message_t* msg)
298{
299 return _MAV_RETURN_uint8_t(msg, 17);
300}
301
302/**
303 * @brief Get field threat_level from collision message
304 *
305 * @return How concerned the aircraft is about this collision
306 */
307static inline uint8_t mavlink_msg_collision_get_threat_level(const mavlink_message_t* msg)
308{
309 return _MAV_RETURN_uint8_t(msg, 18);
310}
311
312/**
313 * @brief Get field time_to_minimum_delta from collision message
314 *
315 * @return Estimated time until collision occurs (seconds)
316 */
317static inline float mavlink_msg_collision_get_time_to_minimum_delta(const mavlink_message_t* msg)
318{
319 return _MAV_RETURN_float(msg, 4);
320}
321
322/**
323 * @brief Get field altitude_minimum_delta from collision message
324 *
325 * @return Closest vertical distance in meters between vehicle and object
326 */
327static inline float mavlink_msg_collision_get_altitude_minimum_delta(const mavlink_message_t* msg)
328{
329 return _MAV_RETURN_float(msg, 8);
330}
331
332/**
333 * @brief Get field horizontal_minimum_delta from collision message
334 *
335 * @return Closest horizontal distance in meteres between vehicle and object
336 */
337static inline float mavlink_msg_collision_get_horizontal_minimum_delta(const mavlink_message_t* msg)
338{
339 return _MAV_RETURN_float(msg, 12);
340}
341
342/**
343 * @brief Decode a collision message into a struct
344 *
345 * @param msg The message to decode
346 * @param collision C-struct to decode the message contents into
347 */
348static inline void mavlink_msg_collision_decode(const mavlink_message_t* msg, mavlink_collision_t* collision)
349{
350#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
351 collision->id = mavlink_msg_collision_get_id(msg);
352 collision->time_to_minimum_delta = mavlink_msg_collision_get_time_to_minimum_delta(msg);
353 collision->altitude_minimum_delta = mavlink_msg_collision_get_altitude_minimum_delta(msg);
354 collision->horizontal_minimum_delta = mavlink_msg_collision_get_horizontal_minimum_delta(msg);
355 collision->src = mavlink_msg_collision_get_src(msg);
356 collision->action = mavlink_msg_collision_get_action(msg);
357 collision->threat_level = mavlink_msg_collision_get_threat_level(msg);
358#else
359 uint8_t len = msg->len < MAVLINK_MSG_ID_COLLISION_LEN? msg->len : MAVLINK_MSG_ID_COLLISION_LEN;
360 memset(collision, 0, MAVLINK_MSG_ID_COLLISION_LEN);
361 memcpy(collision, _MAV_PAYLOAD(msg), len);
362#endif
363}
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