363 lines
19 KiB
C
363 lines
19 KiB
C
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#pragma once
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// MESSAGE TUNNEL PACKING
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#define MAVLINK_MSG_ID_TUNNEL 385
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typedef struct __mavlink_tunnel_t {
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uint16_t payload_type; /*< A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.*/
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uint8_t target_system; /*< System ID (can be 0 for broadcast, but this is discouraged)*/
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uint8_t target_component; /*< Component ID (can be 0 for broadcast, but this is discouraged)*/
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uint8_t payload_length; /*< Length of the data transported in payload*/
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uint8_t payload[128]; /*< Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.*/
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} mavlink_tunnel_t;
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#define MAVLINK_MSG_ID_TUNNEL_LEN 133
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#define MAVLINK_MSG_ID_TUNNEL_MIN_LEN 133
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#define MAVLINK_MSG_ID_385_LEN 133
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#define MAVLINK_MSG_ID_385_MIN_LEN 133
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#define MAVLINK_MSG_ID_TUNNEL_CRC 147
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#define MAVLINK_MSG_ID_385_CRC 147
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#define MAVLINK_MSG_TUNNEL_FIELD_PAYLOAD_LEN 128
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_TUNNEL { \
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385, \
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"TUNNEL", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_tunnel_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_tunnel_t, target_component) }, \
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{ "payload_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_tunnel_t, payload_type) }, \
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{ "payload_length", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_tunnel_t, payload_length) }, \
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{ "payload", NULL, MAVLINK_TYPE_UINT8_T, 128, 5, offsetof(mavlink_tunnel_t, payload) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_TUNNEL { \
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"TUNNEL", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_tunnel_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_tunnel_t, target_component) }, \
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{ "payload_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_tunnel_t, payload_type) }, \
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{ "payload_length", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_tunnel_t, payload_length) }, \
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{ "payload", NULL, MAVLINK_TYPE_UINT8_T, 128, 5, offsetof(mavlink_tunnel_t, payload) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a tunnel message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID (can be 0 for broadcast, but this is discouraged)
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* @param target_component Component ID (can be 0 for broadcast, but this is discouraged)
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* @param payload_type A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload_length Length of the data transported in payload
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* @param payload Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_tunnel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
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_mav_put_uint16_t(buf, 0, payload_type);
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_mav_put_uint8_t(buf, 2, target_system);
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_mav_put_uint8_t(buf, 3, target_component);
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_mav_put_uint8_t(buf, 4, payload_length);
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_mav_put_uint8_t_array(buf, 5, payload, 128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TUNNEL_LEN);
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#else
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mavlink_tunnel_t packet;
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packet.payload_type = payload_type;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.payload_length = payload_length;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TUNNEL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TUNNEL;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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}
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/**
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* @brief Pack a tunnel message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID (can be 0 for broadcast, but this is discouraged)
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* @param target_component Component ID (can be 0 for broadcast, but this is discouraged)
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* @param payload_type A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload_length Length of the data transported in payload
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* @param payload Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_tunnel_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
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_mav_put_uint16_t(buf, 0, payload_type);
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_mav_put_uint8_t(buf, 2, target_system);
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_mav_put_uint8_t(buf, 3, target_component);
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_mav_put_uint8_t(buf, 4, payload_length);
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_mav_put_uint8_t_array(buf, 5, payload, 128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TUNNEL_LEN);
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#else
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mavlink_tunnel_t packet;
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packet.payload_type = payload_type;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.payload_length = payload_length;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TUNNEL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TUNNEL;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN);
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#endif
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}
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/**
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* @brief Pack a tunnel message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID (can be 0 for broadcast, but this is discouraged)
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* @param target_component Component ID (can be 0 for broadcast, but this is discouraged)
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* @param payload_type A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload_length Length of the data transported in payload
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* @param payload Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_tunnel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t target_system,uint8_t target_component,uint16_t payload_type,uint8_t payload_length,const uint8_t *payload)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
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_mav_put_uint16_t(buf, 0, payload_type);
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_mav_put_uint8_t(buf, 2, target_system);
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_mav_put_uint8_t(buf, 3, target_component);
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_mav_put_uint8_t(buf, 4, payload_length);
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_mav_put_uint8_t_array(buf, 5, payload, 128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TUNNEL_LEN);
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#else
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mavlink_tunnel_t packet;
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packet.payload_type = payload_type;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.payload_length = payload_length;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TUNNEL_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_TUNNEL;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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}
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/**
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* @brief Encode a tunnel struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param tunnel C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_tunnel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_tunnel_t* tunnel)
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{
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return mavlink_msg_tunnel_pack(system_id, component_id, msg, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
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}
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/**
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* @brief Encode a tunnel struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param tunnel C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_tunnel_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_tunnel_t* tunnel)
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{
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return mavlink_msg_tunnel_pack_chan(system_id, component_id, chan, msg, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
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}
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/**
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* @brief Encode a tunnel struct with provided status structure
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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* @param tunnel C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_tunnel_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_tunnel_t* tunnel)
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{
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return mavlink_msg_tunnel_pack_status(system_id, component_id, _status, msg, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
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}
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/**
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* @brief Send a tunnel message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID (can be 0 for broadcast, but this is discouraged)
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* @param target_component Component ID (can be 0 for broadcast, but this is discouraged)
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* @param payload_type A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
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* @param payload_length Length of the data transported in payload
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* @param payload Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_tunnel_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_TUNNEL_LEN];
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_mav_put_uint16_t(buf, 0, payload_type);
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_mav_put_uint8_t(buf, 2, target_system);
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_mav_put_uint8_t(buf, 3, target_component);
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_mav_put_uint8_t(buf, 4, payload_length);
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_mav_put_uint8_t_array(buf, 5, payload, 128);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, buf, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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#else
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mavlink_tunnel_t packet;
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packet.payload_type = payload_type;
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packet.target_system = target_system;
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packet.target_component = target_component;
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packet.payload_length = payload_length;
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mav_array_memcpy(packet.payload, payload, sizeof(uint8_t)*128);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)&packet, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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#endif
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}
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/**
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* @brief Send a tunnel message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_tunnel_send_struct(mavlink_channel_t chan, const mavlink_tunnel_t* tunnel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_tunnel_send(chan, tunnel->target_system, tunnel->target_component, tunnel->payload_type, tunnel->payload_length, tunnel->payload);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)tunnel, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_TUNNEL_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_tunnel_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t payload_type, uint8_t payload_length, const uint8_t *payload)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint16_t(buf, 0, payload_type);
|
||
|
|
_mav_put_uint8_t(buf, 2, target_system);
|
||
|
|
_mav_put_uint8_t(buf, 3, target_component);
|
||
|
|
_mav_put_uint8_t(buf, 4, payload_length);
|
||
|
|
_mav_put_uint8_t_array(buf, 5, payload, 128);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, buf, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_tunnel_t *packet = (mavlink_tunnel_t *)msgbuf;
|
||
|
|
packet->payload_type = payload_type;
|
||
|
|
packet->target_system = target_system;
|
||
|
|
packet->target_component = target_component;
|
||
|
|
packet->payload_length = payload_length;
|
||
|
|
mav_array_memcpy(packet->payload, payload, sizeof(uint8_t)*128);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TUNNEL, (const char *)packet, MAVLINK_MSG_ID_TUNNEL_MIN_LEN, MAVLINK_MSG_ID_TUNNEL_LEN, MAVLINK_MSG_ID_TUNNEL_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE TUNNEL UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_system from tunnel message
|
||
|
|
*
|
||
|
|
* @return System ID (can be 0 for broadcast, but this is discouraged)
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_tunnel_get_target_system(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 2);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_component from tunnel message
|
||
|
|
*
|
||
|
|
* @return Component ID (can be 0 for broadcast, but this is discouraged)
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_tunnel_get_target_component(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 3);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field payload_type from tunnel message
|
||
|
|
*
|
||
|
|
* @return A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_tunnel_get_payload_type(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field payload_length from tunnel message
|
||
|
|
*
|
||
|
|
* @return Length of the data transported in payload
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_tunnel_get_payload_length(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field payload from tunnel message
|
||
|
|
*
|
||
|
|
* @return Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_tunnel_get_payload(const mavlink_message_t* msg, uint8_t *payload)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t_array(msg, payload, 128, 5);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a tunnel message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param tunnel C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_tunnel_decode(const mavlink_message_t* msg, mavlink_tunnel_t* tunnel)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
tunnel->payload_type = mavlink_msg_tunnel_get_payload_type(msg);
|
||
|
|
tunnel->target_system = mavlink_msg_tunnel_get_target_system(msg);
|
||
|
|
tunnel->target_component = mavlink_msg_tunnel_get_target_component(msg);
|
||
|
|
tunnel->payload_length = mavlink_msg_tunnel_get_payload_length(msg);
|
||
|
|
mavlink_msg_tunnel_get_payload(msg, tunnel->payload);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_TUNNEL_LEN? msg->len : MAVLINK_MSG_ID_TUNNEL_LEN;
|
||
|
|
memset(tunnel, 0, MAVLINK_MSG_ID_TUNNEL_LEN);
|
||
|
|
memcpy(tunnel, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|