mirror of https://github.com/OpenIPC/wiki.git
389 lines
17 KiB
C
389 lines
17 KiB
C
#pragma once
|
|
// MESSAGE WINCH_STATUS PACKING
|
|
|
|
#define MAVLINK_MSG_ID_WINCH_STATUS 9005
|
|
|
|
|
|
typedef struct __mavlink_winch_status_t {
|
|
uint64_t time_usec; /*< [us] Timestamp (synced to UNIX time or since system boot).*/
|
|
float line_length; /*< [m] Length of line released. NaN if unknown*/
|
|
float speed; /*< [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown*/
|
|
float tension; /*< [kg] Tension on the line. NaN if unknown*/
|
|
float voltage; /*< [V] Voltage of the battery supplying the winch. NaN if unknown*/
|
|
float current; /*< [A] Current draw from the winch. NaN if unknown*/
|
|
uint32_t status; /*< Status flags*/
|
|
int16_t temperature; /*< [degC] Temperature of the motor. INT16_MAX if unknown*/
|
|
} mavlink_winch_status_t;
|
|
|
|
#define MAVLINK_MSG_ID_WINCH_STATUS_LEN 34
|
|
#define MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN 34
|
|
#define MAVLINK_MSG_ID_9005_LEN 34
|
|
#define MAVLINK_MSG_ID_9005_MIN_LEN 34
|
|
|
|
#define MAVLINK_MSG_ID_WINCH_STATUS_CRC 117
|
|
#define MAVLINK_MSG_ID_9005_CRC 117
|
|
|
|
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_WINCH_STATUS { \
|
|
9005, \
|
|
"WINCH_STATUS", \
|
|
8, \
|
|
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_winch_status_t, time_usec) }, \
|
|
{ "line_length", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_winch_status_t, line_length) }, \
|
|
{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_winch_status_t, speed) }, \
|
|
{ "tension", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_winch_status_t, tension) }, \
|
|
{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_winch_status_t, voltage) }, \
|
|
{ "current", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_winch_status_t, current) }, \
|
|
{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_winch_status_t, temperature) }, \
|
|
{ "status", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_winch_status_t, status) }, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_WINCH_STATUS { \
|
|
"WINCH_STATUS", \
|
|
8, \
|
|
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_winch_status_t, time_usec) }, \
|
|
{ "line_length", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_winch_status_t, line_length) }, \
|
|
{ "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_winch_status_t, speed) }, \
|
|
{ "tension", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_winch_status_t, tension) }, \
|
|
{ "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_winch_status_t, voltage) }, \
|
|
{ "current", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_winch_status_t, current) }, \
|
|
{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_winch_status_t, temperature) }, \
|
|
{ "status", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_winch_status_t, status) }, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a winch_status message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
|
|
* @param line_length [m] Length of line released. NaN if unknown
|
|
* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
|
|
* @param tension [kg] Tension on the line. NaN if unknown
|
|
* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
|
|
* @param current [A] Current draw from the winch. NaN if unknown
|
|
* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
|
|
* @param status Status flags
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_winch_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_WINCH_STATUS_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, line_length);
|
|
_mav_put_float(buf, 12, speed);
|
|
_mav_put_float(buf, 16, tension);
|
|
_mav_put_float(buf, 20, voltage);
|
|
_mav_put_float(buf, 24, current);
|
|
_mav_put_uint32_t(buf, 28, status);
|
|
_mav_put_int16_t(buf, 32, temperature);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
|
|
#else
|
|
mavlink_winch_status_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.line_length = line_length;
|
|
packet.speed = speed;
|
|
packet.tension = tension;
|
|
packet.voltage = voltage;
|
|
packet.current = current;
|
|
packet.status = status;
|
|
packet.temperature = temperature;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_WINCH_STATUS;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a winch_status message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
|
|
* @param line_length [m] Length of line released. NaN if unknown
|
|
* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
|
|
* @param tension [kg] Tension on the line. NaN if unknown
|
|
* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
|
|
* @param current [A] Current draw from the winch. NaN if unknown
|
|
* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
|
|
* @param status Status flags
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_winch_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
uint64_t time_usec,float line_length,float speed,float tension,float voltage,float current,int16_t temperature,uint32_t status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_WINCH_STATUS_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, line_length);
|
|
_mav_put_float(buf, 12, speed);
|
|
_mav_put_float(buf, 16, tension);
|
|
_mav_put_float(buf, 20, voltage);
|
|
_mav_put_float(buf, 24, current);
|
|
_mav_put_uint32_t(buf, 28, status);
|
|
_mav_put_int16_t(buf, 32, temperature);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
|
|
#else
|
|
mavlink_winch_status_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.line_length = line_length;
|
|
packet.speed = speed;
|
|
packet.tension = tension;
|
|
packet.voltage = voltage;
|
|
packet.current = current;
|
|
packet.status = status;
|
|
packet.temperature = temperature;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_WINCH_STATUS;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a winch_status struct
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param winch_status C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_winch_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_winch_status_t* winch_status)
|
|
{
|
|
return mavlink_msg_winch_status_pack(system_id, component_id, msg, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a winch_status struct on a channel
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param winch_status C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_winch_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_winch_status_t* winch_status)
|
|
{
|
|
return mavlink_msg_winch_status_pack_chan(system_id, component_id, chan, msg, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a winch_status message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param time_usec [us] Timestamp (synced to UNIX time or since system boot).
|
|
* @param line_length [m] Length of line released. NaN if unknown
|
|
* @param speed [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
|
|
* @param tension [kg] Tension on the line. NaN if unknown
|
|
* @param voltage [V] Voltage of the battery supplying the winch. NaN if unknown
|
|
* @param current [A] Current draw from the winch. NaN if unknown
|
|
* @param temperature [degC] Temperature of the motor. INT16_MAX if unknown
|
|
* @param status Status flags
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_winch_status_send(mavlink_channel_t chan, uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_WINCH_STATUS_LEN];
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, line_length);
|
|
_mav_put_float(buf, 12, speed);
|
|
_mav_put_float(buf, 16, tension);
|
|
_mav_put_float(buf, 20, voltage);
|
|
_mav_put_float(buf, 24, current);
|
|
_mav_put_uint32_t(buf, 28, status);
|
|
_mav_put_int16_t(buf, 32, temperature);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, buf, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
#else
|
|
mavlink_winch_status_t packet;
|
|
packet.time_usec = time_usec;
|
|
packet.line_length = line_length;
|
|
packet.speed = speed;
|
|
packet.tension = tension;
|
|
packet.voltage = voltage;
|
|
packet.current = current;
|
|
packet.status = status;
|
|
packet.temperature = temperature;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)&packet, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a winch_status message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_winch_status_send_struct(mavlink_channel_t chan, const mavlink_winch_status_t* winch_status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_winch_status_send(chan, winch_status->time_usec, winch_status->line_length, winch_status->speed, winch_status->tension, winch_status->voltage, winch_status->current, winch_status->temperature, winch_status->status);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)winch_status, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_WINCH_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This variant of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
static inline void mavlink_msg_winch_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float line_length, float speed, float tension, float voltage, float current, int16_t temperature, uint32_t status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_float(buf, 8, line_length);
|
|
_mav_put_float(buf, 12, speed);
|
|
_mav_put_float(buf, 16, tension);
|
|
_mav_put_float(buf, 20, voltage);
|
|
_mav_put_float(buf, 24, current);
|
|
_mav_put_uint32_t(buf, 28, status);
|
|
_mav_put_int16_t(buf, 32, temperature);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, buf, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
#else
|
|
mavlink_winch_status_t *packet = (mavlink_winch_status_t *)msgbuf;
|
|
packet->time_usec = time_usec;
|
|
packet->line_length = line_length;
|
|
packet->speed = speed;
|
|
packet->tension = tension;
|
|
packet->voltage = voltage;
|
|
packet->current = current;
|
|
packet->status = status;
|
|
packet->temperature = temperature;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WINCH_STATUS, (const char *)packet, MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN, MAVLINK_MSG_ID_WINCH_STATUS_LEN, MAVLINK_MSG_ID_WINCH_STATUS_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE WINCH_STATUS UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from winch_status message
|
|
*
|
|
* @return [us] Timestamp (synced to UNIX time or since system boot).
|
|
*/
|
|
static inline uint64_t mavlink_msg_winch_status_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field line_length from winch_status message
|
|
*
|
|
* @return [m] Length of line released. NaN if unknown
|
|
*/
|
|
static inline float mavlink_msg_winch_status_get_line_length(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field speed from winch_status message
|
|
*
|
|
* @return [m/s] Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
|
|
*/
|
|
static inline float mavlink_msg_winch_status_get_speed(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field tension from winch_status message
|
|
*
|
|
* @return [kg] Tension on the line. NaN if unknown
|
|
*/
|
|
static inline float mavlink_msg_winch_status_get_tension(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field voltage from winch_status message
|
|
*
|
|
* @return [V] Voltage of the battery supplying the winch. NaN if unknown
|
|
*/
|
|
static inline float mavlink_msg_winch_status_get_voltage(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field current from winch_status message
|
|
*
|
|
* @return [A] Current draw from the winch. NaN if unknown
|
|
*/
|
|
static inline float mavlink_msg_winch_status_get_current(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field temperature from winch_status message
|
|
*
|
|
* @return [degC] Temperature of the motor. INT16_MAX if unknown
|
|
*/
|
|
static inline int16_t mavlink_msg_winch_status_get_temperature(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field status from winch_status message
|
|
*
|
|
* @return Status flags
|
|
*/
|
|
static inline uint32_t mavlink_msg_winch_status_get_status(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a winch_status message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param winch_status C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_winch_status_decode(const mavlink_message_t* msg, mavlink_winch_status_t* winch_status)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
winch_status->time_usec = mavlink_msg_winch_status_get_time_usec(msg);
|
|
winch_status->line_length = mavlink_msg_winch_status_get_line_length(msg);
|
|
winch_status->speed = mavlink_msg_winch_status_get_speed(msg);
|
|
winch_status->tension = mavlink_msg_winch_status_get_tension(msg);
|
|
winch_status->voltage = mavlink_msg_winch_status_get_voltage(msg);
|
|
winch_status->current = mavlink_msg_winch_status_get_current(msg);
|
|
winch_status->status = mavlink_msg_winch_status_get_status(msg);
|
|
winch_status->temperature = mavlink_msg_winch_status_get_temperature(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_WINCH_STATUS_LEN? msg->len : MAVLINK_MSG_ID_WINCH_STATUS_LEN;
|
|
memset(winch_status, 0, MAVLINK_MSG_ID_WINCH_STATUS_LEN);
|
|
memcpy(winch_status, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|