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mavlink_msg_command_ack.h
1#pragma once
2// MESSAGE COMMAND_ACK PACKING
3
4#define MAVLINK_MSG_ID_COMMAND_ACK 77
5
6MAVPACKED(
7typedef struct __mavlink_command_ack_t {
8 uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
9 uint8_t result; /*< See MAV_RESULT enum*/
10 uint8_t progress; /*< WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.*/
11 int32_t result_param2; /*< WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.*/
12 uint8_t target_system; /*< WIP: System which requested the command to be executed*/
13 uint8_t target_component; /*< WIP: Component which requested the command to be executed*/
14}) mavlink_command_ack_t;
15
16#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 10
17#define MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN 3
18#define MAVLINK_MSG_ID_77_LEN 10
19#define MAVLINK_MSG_ID_77_MIN_LEN 3
20
21#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
22#define MAVLINK_MSG_ID_77_CRC 143
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
28 77, \
29 "COMMAND_ACK", \
30 6, \
31 { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
32 { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
33 { "progress", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_ack_t, progress) }, \
34 { "result_param2", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_command_ack_t, result_param2) }, \
35 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_command_ack_t, target_system) }, \
36 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_command_ack_t, target_component) }, \
37 } \
38}
39#else
40#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
41 "COMMAND_ACK", \
42 6, \
43 { { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
44 { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
45 { "progress", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_command_ack_t, progress) }, \
46 { "result_param2", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_command_ack_t, result_param2) }, \
47 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_command_ack_t, target_system) }, \
48 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_command_ack_t, target_component) }, \
49 } \
50}
51#endif
52
67static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
68 uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
69{
70#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
71 char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
72 _mav_put_uint16_t(buf, 0, command);
73 _mav_put_uint8_t(buf, 2, result);
74 _mav_put_uint8_t(buf, 3, progress);
75 _mav_put_int32_t(buf, 4, result_param2);
76 _mav_put_uint8_t(buf, 8, target_system);
77 _mav_put_uint8_t(buf, 9, target_component);
78
79 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
80#else
81 mavlink_command_ack_t packet;
82 packet.command = command;
83 packet.result = result;
84 packet.progress = progress;
85 packet.result_param2 = result_param2;
86 packet.target_system = target_system;
87 packet.target_component = target_component;
88
89 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
90#endif
91
92 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
93 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
94}
95
110static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
111 mavlink_message_t* msg,
112 uint16_t command,uint8_t result,uint8_t progress,int32_t result_param2,uint8_t target_system,uint8_t target_component)
113{
114#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
115 char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
116 _mav_put_uint16_t(buf, 0, command);
117 _mav_put_uint8_t(buf, 2, result);
118 _mav_put_uint8_t(buf, 3, progress);
119 _mav_put_int32_t(buf, 4, result_param2);
120 _mav_put_uint8_t(buf, 8, target_system);
121 _mav_put_uint8_t(buf, 9, target_component);
122
123 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
124#else
125 mavlink_command_ack_t packet;
126 packet.command = command;
127 packet.result = result;
128 packet.progress = progress;
129 packet.result_param2 = result_param2;
130 packet.target_system = target_system;
131 packet.target_component = target_component;
132
133 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
134#endif
135
136 msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
137 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
138}
139
148static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
149{
150 return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
151}
152
162static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
163{
164 return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
165}
166
178#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179
180static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
181{
182#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183 char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
184 _mav_put_uint16_t(buf, 0, command);
185 _mav_put_uint8_t(buf, 2, result);
186 _mav_put_uint8_t(buf, 3, progress);
187 _mav_put_int32_t(buf, 4, result_param2);
188 _mav_put_uint8_t(buf, 8, target_system);
189 _mav_put_uint8_t(buf, 9, target_component);
190
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
192#else
193 mavlink_command_ack_t packet;
194 packet.command = command;
195 packet.result = result;
196 packet.progress = progress;
197 packet.result_param2 = result_param2;
198 packet.target_system = target_system;
199 packet.target_component = target_component;
200
201 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
202#endif
203}
204
210static inline void mavlink_msg_command_ack_send_struct(mavlink_channel_t chan, const mavlink_command_ack_t* command_ack)
211{
212#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
213 mavlink_msg_command_ack_send(chan, command_ack->command, command_ack->result, command_ack->progress, command_ack->result_param2, command_ack->target_system, command_ack->target_component);
214#else
215 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)command_ack, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
216#endif
217}
218
219#if MAVLINK_MSG_ID_COMMAND_ACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
220/*
221 This varient of _send() can be used to save stack space by re-using
222 memory from the receive buffer. The caller provides a
223 mavlink_message_t which is the size of a full mavlink message. This
224 is usually the receive buffer for the channel, and allows a reply to an
225 incoming message with minimum stack space usage.
226 */
227static inline void mavlink_msg_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t command, uint8_t result, uint8_t progress, int32_t result_param2, uint8_t target_system, uint8_t target_component)
228{
229#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
230 char *buf = (char *)msgbuf;
231 _mav_put_uint16_t(buf, 0, command);
232 _mav_put_uint8_t(buf, 2, result);
233 _mav_put_uint8_t(buf, 3, progress);
234 _mav_put_int32_t(buf, 4, result_param2);
235 _mav_put_uint8_t(buf, 8, target_system);
236 _mav_put_uint8_t(buf, 9, target_component);
237
238 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
239#else
240 mavlink_command_ack_t *packet = (mavlink_command_ack_t *)msgbuf;
241 packet->command = command;
242 packet->result = result;
243 packet->progress = progress;
244 packet->result_param2 = result_param2;
245 packet->target_system = target_system;
246 packet->target_component = target_component;
247
248 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
249#endif
250}
251#endif
252
253#endif
254
255// MESSAGE COMMAND_ACK UNPACKING
256
257
263static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
264{
265 return _MAV_RETURN_uint16_t(msg, 0);
266}
267
273static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
274{
275 return _MAV_RETURN_uint8_t(msg, 2);
276}
277
283static inline uint8_t mavlink_msg_command_ack_get_progress(const mavlink_message_t* msg)
284{
285 return _MAV_RETURN_uint8_t(msg, 3);
286}
287
293static inline int32_t mavlink_msg_command_ack_get_result_param2(const mavlink_message_t* msg)
294{
295 return _MAV_RETURN_int32_t(msg, 4);
296}
297
303static inline uint8_t mavlink_msg_command_ack_get_target_system(const mavlink_message_t* msg)
304{
305 return _MAV_RETURN_uint8_t(msg, 8);
306}
307
313static inline uint8_t mavlink_msg_command_ack_get_target_component(const mavlink_message_t* msg)
314{
315 return _MAV_RETURN_uint8_t(msg, 9);
316}
317
324static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
325{
326#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
327 command_ack->command = mavlink_msg_command_ack_get_command(msg);
328 command_ack->result = mavlink_msg_command_ack_get_result(msg);
329 command_ack->progress = mavlink_msg_command_ack_get_progress(msg);
330 command_ack->result_param2 = mavlink_msg_command_ack_get_result_param2(msg);
331 command_ack->target_system = mavlink_msg_command_ack_get_target_system(msg);
332 command_ack->target_component = mavlink_msg_command_ack_get_target_component(msg);
333#else
334 uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_ACK_LEN;
335 memset(command_ack, 0, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
336 memcpy(command_ack, _MAV_PAYLOAD(msg), len);
337#endif
338}
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