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mavlink_msg_protocol_version.h
1#pragma once
2// MESSAGE PROTOCOL_VERSION PACKING
3
4#define MAVLINK_MSG_ID_PROTOCOL_VERSION 300
5
6MAVPACKED(
7typedef struct __mavlink_protocol_version_t {
8 uint16_t version; /*< Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.*/
9 uint16_t min_version; /*< Minimum MAVLink version supported*/
10 uint16_t max_version; /*< Maximum MAVLink version supported (set to the same value as version by default)*/
11 uint8_t spec_version_hash[8]; /*< The first 8 bytes (not characters printed in hex!) of the git hash.*/
12 uint8_t library_version_hash[8]; /*< The first 8 bytes (not characters printed in hex!) of the git hash.*/
13}) mavlink_protocol_version_t;
14
15#define MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN 22
16#define MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN 22
17#define MAVLINK_MSG_ID_300_LEN 22
18#define MAVLINK_MSG_ID_300_MIN_LEN 22
19
20#define MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC 217
21#define MAVLINK_MSG_ID_300_CRC 217
22
23#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_SPEC_VERSION_HASH_LEN 8
24#define MAVLINK_MSG_PROTOCOL_VERSION_FIELD_LIBRARY_VERSION_HASH_LEN 8
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
28 300, \
29 "PROTOCOL_VERSION", \
30 5, \
31 { { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
32 { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
33 { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
34 { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
35 { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
36 } \
37}
38#else
39#define MAVLINK_MESSAGE_INFO_PROTOCOL_VERSION { \
40 "PROTOCOL_VERSION", \
41 5, \
42 { { "version", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_protocol_version_t, version) }, \
43 { "min_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_protocol_version_t, min_version) }, \
44 { "max_version", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_protocol_version_t, max_version) }, \
45 { "spec_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 6, offsetof(mavlink_protocol_version_t, spec_version_hash) }, \
46 { "library_version_hash", NULL, MAVLINK_TYPE_UINT8_T, 8, 14, offsetof(mavlink_protocol_version_t, library_version_hash) }, \
47 } \
48}
49#endif
50
51/**
52 * @brief Pack a protocol_version message
53 * @param system_id ID of this system
54 * @param component_id ID of this component (e.g. 200 for IMU)
55 * @param msg The MAVLink message to compress the data into
56 *
57 * @param version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
58 * @param min_version Minimum MAVLink version supported
59 * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
60 * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
61 * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
62 * @return length of the message in bytes (excluding serial stream start sign)
63 */
64static inline uint16_t mavlink_msg_protocol_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
65 uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
66{
67#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
68 char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
69 _mav_put_uint16_t(buf, 0, version);
70 _mav_put_uint16_t(buf, 2, min_version);
71 _mav_put_uint16_t(buf, 4, max_version);
72 _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
73 _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
74 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
75#else
76 mavlink_protocol_version_t packet;
77 packet.version = version;
78 packet.min_version = min_version;
79 packet.max_version = max_version;
80 mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
81 mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
82 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
83#endif
84
85 msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
86 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
87}
88
89/**
90 * @brief Pack a protocol_version message on a channel
91 * @param system_id ID of this system
92 * @param component_id ID of this component (e.g. 200 for IMU)
93 * @param chan The MAVLink channel this message will be sent over
94 * @param msg The MAVLink message to compress the data into
95 * @param version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
96 * @param min_version Minimum MAVLink version supported
97 * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
98 * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
99 * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
100 * @return length of the message in bytes (excluding serial stream start sign)
101 */
102static inline uint16_t mavlink_msg_protocol_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
103 mavlink_message_t* msg,
104 uint16_t version,uint16_t min_version,uint16_t max_version,const uint8_t *spec_version_hash,const uint8_t *library_version_hash)
105{
106#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
107 char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
108 _mav_put_uint16_t(buf, 0, version);
109 _mav_put_uint16_t(buf, 2, min_version);
110 _mav_put_uint16_t(buf, 4, max_version);
111 _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
112 _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
113 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
114#else
115 mavlink_protocol_version_t packet;
116 packet.version = version;
117 packet.min_version = min_version;
118 packet.max_version = max_version;
119 mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
120 mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
121 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
122#endif
123
124 msg->msgid = MAVLINK_MSG_ID_PROTOCOL_VERSION;
125 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
126}
127
128/**
129 * @brief Encode a protocol_version struct
130 *
131 * @param system_id ID of this system
132 * @param component_id ID of this component (e.g. 200 for IMU)
133 * @param msg The MAVLink message to compress the data into
134 * @param protocol_version C-struct to read the message contents from
135 */
136static inline uint16_t mavlink_msg_protocol_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
137{
138 return mavlink_msg_protocol_version_pack(system_id, component_id, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
139}
140
141/**
142 * @brief Encode a protocol_version struct on a channel
143 *
144 * @param system_id ID of this system
145 * @param component_id ID of this component (e.g. 200 for IMU)
146 * @param chan The MAVLink channel this message will be sent over
147 * @param msg The MAVLink message to compress the data into
148 * @param protocol_version C-struct to read the message contents from
149 */
150static inline uint16_t mavlink_msg_protocol_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_protocol_version_t* protocol_version)
151{
152 return mavlink_msg_protocol_version_pack_chan(system_id, component_id, chan, msg, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
153}
154
155/**
156 * @brief Send a protocol_version message
157 * @param chan MAVLink channel to send the message
158 *
159 * @param version Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
160 * @param min_version Minimum MAVLink version supported
161 * @param max_version Maximum MAVLink version supported (set to the same value as version by default)
162 * @param spec_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
163 * @param library_version_hash The first 8 bytes (not characters printed in hex!) of the git hash.
164 */
165#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
166
167static inline void mavlink_msg_protocol_version_send(mavlink_channel_t chan, uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
168{
169#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
170 char buf[MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN];
171 _mav_put_uint16_t(buf, 0, version);
172 _mav_put_uint16_t(buf, 2, min_version);
173 _mav_put_uint16_t(buf, 4, max_version);
174 _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
175 _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
176 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
177#else
178 mavlink_protocol_version_t packet;
179 packet.version = version;
180 packet.min_version = min_version;
181 packet.max_version = max_version;
182 mav_array_memcpy(packet.spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
183 mav_array_memcpy(packet.library_version_hash, library_version_hash, sizeof(uint8_t)*8);
184 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)&packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
185#endif
186}
187
188/**
189 * @brief Send a protocol_version message
190 * @param chan MAVLink channel to send the message
191 * @param struct The MAVLink struct to serialize
192 */
193static inline void mavlink_msg_protocol_version_send_struct(mavlink_channel_t chan, const mavlink_protocol_version_t* protocol_version)
194{
195#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
196 mavlink_msg_protocol_version_send(chan, protocol_version->version, protocol_version->min_version, protocol_version->max_version, protocol_version->spec_version_hash, protocol_version->library_version_hash);
197#else
198 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)protocol_version, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
199#endif
200}
201
202#if MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
203/*
204 This varient of _send() can be used to save stack space by re-using
205 memory from the receive buffer. The caller provides a
206 mavlink_message_t which is the size of a full mavlink message. This
207 is usually the receive buffer for the channel, and allows a reply to an
208 incoming message with minimum stack space usage.
209 */
210static inline void mavlink_msg_protocol_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t version, uint16_t min_version, uint16_t max_version, const uint8_t *spec_version_hash, const uint8_t *library_version_hash)
211{
212#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
213 char *buf = (char *)msgbuf;
214 _mav_put_uint16_t(buf, 0, version);
215 _mav_put_uint16_t(buf, 2, min_version);
216 _mav_put_uint16_t(buf, 4, max_version);
217 _mav_put_uint8_t_array(buf, 6, spec_version_hash, 8);
218 _mav_put_uint8_t_array(buf, 14, library_version_hash, 8);
219 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, buf, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
220#else
221 mavlink_protocol_version_t *packet = (mavlink_protocol_version_t *)msgbuf;
222 packet->version = version;
223 packet->min_version = min_version;
224 packet->max_version = max_version;
225 mav_array_memcpy(packet->spec_version_hash, spec_version_hash, sizeof(uint8_t)*8);
226 mav_array_memcpy(packet->library_version_hash, library_version_hash, sizeof(uint8_t)*8);
227 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PROTOCOL_VERSION, (const char *)packet, MAVLINK_MSG_ID_PROTOCOL_VERSION_MIN_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN, MAVLINK_MSG_ID_PROTOCOL_VERSION_CRC);
228#endif
229}
230#endif
231
232#endif
233
234// MESSAGE PROTOCOL_VERSION UNPACKING
235
236
237/**
238 * @brief Get field version from protocol_version message
239 *
240 * @return Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
241 */
242static inline uint16_t mavlink_msg_protocol_version_get_version(const mavlink_message_t* msg)
243{
244 return _MAV_RETURN_uint16_t(msg, 0);
245}
246
247/**
248 * @brief Get field min_version from protocol_version message
249 *
250 * @return Minimum MAVLink version supported
251 */
252static inline uint16_t mavlink_msg_protocol_version_get_min_version(const mavlink_message_t* msg)
253{
254 return _MAV_RETURN_uint16_t(msg, 2);
255}
256
257/**
258 * @brief Get field max_version from protocol_version message
259 *
260 * @return Maximum MAVLink version supported (set to the same value as version by default)
261 */
262static inline uint16_t mavlink_msg_protocol_version_get_max_version(const mavlink_message_t* msg)
263{
264 return _MAV_RETURN_uint16_t(msg, 4);
265}
266
267/**
268 * @brief Get field spec_version_hash from protocol_version message
269 *
270 * @return The first 8 bytes (not characters printed in hex!) of the git hash.
271 */
272static inline uint16_t mavlink_msg_protocol_version_get_spec_version_hash(const mavlink_message_t* msg, uint8_t *spec_version_hash)
273{
274 return _MAV_RETURN_uint8_t_array(msg, spec_version_hash, 8, 6);
275}
276
277/**
278 * @brief Get field library_version_hash from protocol_version message
279 *
280 * @return The first 8 bytes (not characters printed in hex!) of the git hash.
281 */
282static inline uint16_t mavlink_msg_protocol_version_get_library_version_hash(const mavlink_message_t* msg, uint8_t *library_version_hash)
283{
284 return _MAV_RETURN_uint8_t_array(msg, library_version_hash, 8, 14);
285}
286
287/**
288 * @brief Decode a protocol_version message into a struct
289 *
290 * @param msg The message to decode
291 * @param protocol_version C-struct to decode the message contents into
292 */
293static inline void mavlink_msg_protocol_version_decode(const mavlink_message_t* msg, mavlink_protocol_version_t* protocol_version)
294{
295#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
296 protocol_version->version = mavlink_msg_protocol_version_get_version(msg);
297 protocol_version->min_version = mavlink_msg_protocol_version_get_min_version(msg);
298 protocol_version->max_version = mavlink_msg_protocol_version_get_max_version(msg);
299 mavlink_msg_protocol_version_get_spec_version_hash(msg, protocol_version->spec_version_hash);
300 mavlink_msg_protocol_version_get_library_version_hash(msg, protocol_version->library_version_hash);
301#else
302 uint8_t len = msg->len < MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN? msg->len : MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN;
303 memset(protocol_version, 0, MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN);
304 memcpy(protocol_version, _MAV_PAYLOAD(msg), len);
305#endif
306}
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