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mavlink_msg_encapsulated_data.h
1#pragma once
2// MESSAGE ENCAPSULATED_DATA PACKING
3
4#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
5
6MAVPACKED(
7typedef struct __mavlink_encapsulated_data_t {
8 uint16_t seqnr; /*< sequence number (starting with 0 on every transmission)*/
9 uint8_t data[253]; /*< image data bytes*/
10}) mavlink_encapsulated_data_t;
11
12#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
13#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN 255
14#define MAVLINK_MSG_ID_131_LEN 255
15#define MAVLINK_MSG_ID_131_MIN_LEN 255
16
17#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
18#define MAVLINK_MSG_ID_131_CRC 223
19
20#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
21
22#if MAVLINK_COMMAND_24BIT
23#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
24 131, \
25 "ENCAPSULATED_DATA", \
26 2, \
27 { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
28 { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
29 } \
30}
31#else
32#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
33 "ENCAPSULATED_DATA", \
34 2, \
35 { { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
36 { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
37 } \
38}
39#endif
40
41/**
42 * @brief Pack a encapsulated_data message
43 * @param system_id ID of this system
44 * @param component_id ID of this component (e.g. 200 for IMU)
45 * @param msg The MAVLink message to compress the data into
46 *
47 * @param seqnr sequence number (starting with 0 on every transmission)
48 * @param data image data bytes
49 * @return length of the message in bytes (excluding serial stream start sign)
50 */
51static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
52 uint16_t seqnr, const uint8_t *data)
53{
54#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
55 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
56 _mav_put_uint16_t(buf, 0, seqnr);
57 _mav_put_uint8_t_array(buf, 2, data, 253);
58 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
59#else
60 mavlink_encapsulated_data_t packet;
61 packet.seqnr = seqnr;
62 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
63 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
64#endif
65
66 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
67 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
68}
69
70/**
71 * @brief Pack a encapsulated_data message on a channel
72 * @param system_id ID of this system
73 * @param component_id ID of this component (e.g. 200 for IMU)
74 * @param chan The MAVLink channel this message will be sent over
75 * @param msg The MAVLink message to compress the data into
76 * @param seqnr sequence number (starting with 0 on every transmission)
77 * @param data image data bytes
78 * @return length of the message in bytes (excluding serial stream start sign)
79 */
80static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
81 mavlink_message_t* msg,
82 uint16_t seqnr,const uint8_t *data)
83{
84#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
85 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
86 _mav_put_uint16_t(buf, 0, seqnr);
87 _mav_put_uint8_t_array(buf, 2, data, 253);
88 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
89#else
90 mavlink_encapsulated_data_t packet;
91 packet.seqnr = seqnr;
92 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
93 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
94#endif
95
96 msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
97 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
98}
99
100/**
101 * @brief Encode a encapsulated_data struct
102 *
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param msg The MAVLink message to compress the data into
106 * @param encapsulated_data C-struct to read the message contents from
107 */
108static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
109{
110 return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
111}
112
113/**
114 * @brief Encode a encapsulated_data struct on a channel
115 *
116 * @param system_id ID of this system
117 * @param component_id ID of this component (e.g. 200 for IMU)
118 * @param chan The MAVLink channel this message will be sent over
119 * @param msg The MAVLink message to compress the data into
120 * @param encapsulated_data C-struct to read the message contents from
121 */
122static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
123{
124 return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
125}
126
127/**
128 * @brief Send a encapsulated_data message
129 * @param chan MAVLink channel to send the message
130 *
131 * @param seqnr sequence number (starting with 0 on every transmission)
132 * @param data image data bytes
133 */
134#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
135
136static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
137{
138#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
139 char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
140 _mav_put_uint16_t(buf, 0, seqnr);
141 _mav_put_uint8_t_array(buf, 2, data, 253);
142 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
143#else
144 mavlink_encapsulated_data_t packet;
145 packet.seqnr = seqnr;
146 mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
147 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
148#endif
149}
150
151/**
152 * @brief Send a encapsulated_data message
153 * @param chan MAVLink channel to send the message
154 * @param struct The MAVLink struct to serialize
155 */
156static inline void mavlink_msg_encapsulated_data_send_struct(mavlink_channel_t chan, const mavlink_encapsulated_data_t* encapsulated_data)
157{
158#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
159 mavlink_msg_encapsulated_data_send(chan, encapsulated_data->seqnr, encapsulated_data->data);
160#else
161 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)encapsulated_data, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
162#endif
163}
164
165#if MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
166/*
167 This varient of _send() can be used to save stack space by re-using
168 memory from the receive buffer. The caller provides a
169 mavlink_message_t which is the size of a full mavlink message. This
170 is usually the receive buffer for the channel, and allows a reply to an
171 incoming message with minimum stack space usage.
172 */
173static inline void mavlink_msg_encapsulated_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
174{
175#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
176 char *buf = (char *)msgbuf;
177 _mav_put_uint16_t(buf, 0, seqnr);
178 _mav_put_uint8_t_array(buf, 2, data, 253);
179 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
180#else
181 mavlink_encapsulated_data_t *packet = (mavlink_encapsulated_data_t *)msgbuf;
182 packet->seqnr = seqnr;
183 mav_array_memcpy(packet->data, data, sizeof(uint8_t)*253);
184 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_MIN_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
185#endif
186}
187#endif
188
189#endif
190
191// MESSAGE ENCAPSULATED_DATA UNPACKING
192
193
194/**
195 * @brief Get field seqnr from encapsulated_data message
196 *
197 * @return sequence number (starting with 0 on every transmission)
198 */
199static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
200{
201 return _MAV_RETURN_uint16_t(msg, 0);
202}
203
204/**
205 * @brief Get field data from encapsulated_data message
206 *
207 * @return image data bytes
208 */
209static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
210{
211 return _MAV_RETURN_uint8_t_array(msg, data, 253, 2);
212}
213
214/**
215 * @brief Decode a encapsulated_data message into a struct
216 *
217 * @param msg The message to decode
218 * @param encapsulated_data C-struct to decode the message contents into
219 */
220static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
221{
222#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
223 encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
224 mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
225#else
226 uint8_t len = msg->len < MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN? msg->len : MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN;
227 memset(encapsulated_data, 0, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
228 memcpy(encapsulated_data, _MAV_PAYLOAD(msg), len);
229#endif
230}
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