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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE OBJECT_DETECTION_EVENT PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT 140 |
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| 4 | |||
| 5 | typedef struct __mavlink_object_detection_event_t |
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| 6 | { |
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| 7 | uint32_t time; ///< Timestamp in milliseconds since system boot |
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| 8 | uint16_t object_id; ///< Object ID |
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| 9 | uint8_t type; ///< Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal |
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| 10 | char name[20]; ///< Name of the object as defined by the detector |
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| 11 | uint8_t quality; ///< Detection quality / confidence. 0: bad, 255: maximum confidence |
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| 12 | float bearing; ///< Angle of the object with respect to the body frame in NED coordinates in radians. 0: front |
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| 13 | float distance; ///< Ground distance in meters |
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| 14 | } mavlink_object_detection_event_t; |
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| 15 | |||
| 16 | #define MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT_LEN 36 |
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| 17 | #define MAVLINK_MSG_ID_140_LEN 36 |
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| 18 | |||
| 19 | #define MAVLINK_MSG_OBJECT_DETECTION_EVENT_FIELD_NAME_LEN 20 |
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| 20 | |||
| 21 | #define MAVLINK_MESSAGE_INFO_OBJECT_DETECTION_EVENT { \ |
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| 22 | "OBJECT_DETECTION_EVENT", \ |
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| 23 | 7, \ |
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| 24 | { { "time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_object_detection_event_t, time) }, \ |
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| 25 | { "object_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_object_detection_event_t, object_id) }, \ |
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| 26 | { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_object_detection_event_t, type) }, \ |
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| 27 | { "name", NULL, MAVLINK_TYPE_CHAR, 20, 7, offsetof(mavlink_object_detection_event_t, name) }, \ |
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| 28 | { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_object_detection_event_t, quality) }, \ |
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| 29 | { "bearing", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_object_detection_event_t, bearing) }, \ |
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| 30 | { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_object_detection_event_t, distance) }, \ |
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| 31 | } \ |
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| 32 | } |
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| 33 | |||
| 34 | |||
| 35 | /** |
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| 36 | * @brief Pack a object_detection_event message |
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| 37 | * @param system_id ID of this system |
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| 38 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 39 | * @param msg The MAVLink message to compress the data into |
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| 40 | * |
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| 41 | * @param time Timestamp in milliseconds since system boot |
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| 42 | * @param object_id Object ID |
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| 43 | * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal |
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| 44 | * @param name Name of the object as defined by the detector |
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| 45 | * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence |
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| 46 | * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front |
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| 47 | * @param distance Ground distance in meters |
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| 48 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 49 | */ |
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| 50 | static inline uint16_t mavlink_msg_object_detection_event_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 51 | uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance) |
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| 52 | { |
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| 53 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 54 | char buf[36]; |
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| 55 | _mav_put_uint32_t(buf, 0, time); |
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| 56 | _mav_put_uint16_t(buf, 4, object_id); |
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| 57 | _mav_put_uint8_t(buf, 6, type); |
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| 58 | _mav_put_uint8_t(buf, 27, quality); |
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| 59 | _mav_put_float(buf, 28, bearing); |
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| 60 | _mav_put_float(buf, 32, distance); |
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| 61 | _mav_put_char_array(buf, 7, name, 20); |
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| 62 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
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| 63 | #else |
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| 64 | mavlink_object_detection_event_t packet; |
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| 65 | packet.time = time; |
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| 66 | packet.object_id = object_id; |
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| 67 | packet.type = type; |
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| 68 | packet.quality = quality; |
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| 69 | packet.bearing = bearing; |
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| 70 | packet.distance = distance; |
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| 71 | mav_array_memcpy(packet.name, name, sizeof(char)*20); |
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| 72 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
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| 73 | #endif |
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| 74 | |||
| 75 | msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; |
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| 76 | return mavlink_finalize_message(msg, system_id, component_id, 36); |
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| 77 | } |
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| 78 | |||
| 79 | /** |
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| 80 | * @brief Pack a object_detection_event message on a channel |
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| 81 | * @param system_id ID of this system |
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| 82 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 83 | * @param chan The MAVLink channel this message was sent over |
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| 84 | * @param msg The MAVLink message to compress the data into |
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| 85 | * @param time Timestamp in milliseconds since system boot |
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| 86 | * @param object_id Object ID |
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| 87 | * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal |
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| 88 | * @param name Name of the object as defined by the detector |
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| 89 | * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence |
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| 90 | * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front |
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| 91 | * @param distance Ground distance in meters |
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| 92 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 93 | */ |
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| 94 | static inline uint16_t mavlink_msg_object_detection_event_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 95 | mavlink_message_t* msg, |
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| 96 | uint32_t time,uint16_t object_id,uint8_t type,const char *name,uint8_t quality,float bearing,float distance) |
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| 97 | { |
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| 98 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 99 | char buf[36]; |
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| 100 | _mav_put_uint32_t(buf, 0, time); |
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| 101 | _mav_put_uint16_t(buf, 4, object_id); |
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| 102 | _mav_put_uint8_t(buf, 6, type); |
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| 103 | _mav_put_uint8_t(buf, 27, quality); |
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| 104 | _mav_put_float(buf, 28, bearing); |
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| 105 | _mav_put_float(buf, 32, distance); |
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| 106 | _mav_put_char_array(buf, 7, name, 20); |
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| 107 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
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| 108 | #else |
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| 109 | mavlink_object_detection_event_t packet; |
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| 110 | packet.time = time; |
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| 111 | packet.object_id = object_id; |
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| 112 | packet.type = type; |
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| 113 | packet.quality = quality; |
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| 114 | packet.bearing = bearing; |
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| 115 | packet.distance = distance; |
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| 116 | mav_array_memcpy(packet.name, name, sizeof(char)*20); |
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| 117 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
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| 118 | #endif |
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| 119 | |||
| 120 | msg->msgid = MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT; |
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| 121 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36); |
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| 122 | } |
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| 123 | |||
| 124 | /** |
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| 125 | * @brief Encode a object_detection_event struct into a message |
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| 126 | * |
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| 127 | * @param system_id ID of this system |
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| 128 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 129 | * @param msg The MAVLink message to compress the data into |
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| 130 | * @param object_detection_event C-struct to read the message contents from |
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| 131 | */ |
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| 132 | static inline uint16_t mavlink_msg_object_detection_event_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_object_detection_event_t* object_detection_event) |
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| 133 | { |
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| 134 | return mavlink_msg_object_detection_event_pack(system_id, component_id, msg, object_detection_event->time, object_detection_event->object_id, object_detection_event->type, object_detection_event->name, object_detection_event->quality, object_detection_event->bearing, object_detection_event->distance); |
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| 135 | } |
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| 136 | |||
| 137 | /** |
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| 138 | * @brief Send a object_detection_event message |
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| 139 | * @param chan MAVLink channel to send the message |
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| 140 | * |
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| 141 | * @param time Timestamp in milliseconds since system boot |
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| 142 | * @param object_id Object ID |
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| 143 | * @param type Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal |
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| 144 | * @param name Name of the object as defined by the detector |
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| 145 | * @param quality Detection quality / confidence. 0: bad, 255: maximum confidence |
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| 146 | * @param bearing Angle of the object with respect to the body frame in NED coordinates in radians. 0: front |
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| 147 | * @param distance Ground distance in meters |
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| 148 | */ |
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| 149 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 150 | |||
| 151 | static inline void mavlink_msg_object_detection_event_send(mavlink_channel_t chan, uint32_t time, uint16_t object_id, uint8_t type, const char *name, uint8_t quality, float bearing, float distance) |
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| 152 | { |
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| 153 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 154 | char buf[36]; |
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| 155 | _mav_put_uint32_t(buf, 0, time); |
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| 156 | _mav_put_uint16_t(buf, 4, object_id); |
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| 157 | _mav_put_uint8_t(buf, 6, type); |
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| 158 | _mav_put_uint8_t(buf, 27, quality); |
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| 159 | _mav_put_float(buf, 28, bearing); |
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| 160 | _mav_put_float(buf, 32, distance); |
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| 161 | _mav_put_char_array(buf, 7, name, 20); |
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| 162 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, buf, 36); |
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| 163 | #else |
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| 164 | mavlink_object_detection_event_t packet; |
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| 165 | packet.time = time; |
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| 166 | packet.object_id = object_id; |
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| 167 | packet.type = type; |
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| 168 | packet.quality = quality; |
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| 169 | packet.bearing = bearing; |
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| 170 | packet.distance = distance; |
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| 171 | mav_array_memcpy(packet.name, name, sizeof(char)*20); |
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| 172 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, (const char *)&packet, 36); |
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| 173 | #endif |
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| 174 | } |
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| 175 | |||
| 176 | #endif |
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| 177 | |||
| 178 | // MESSAGE OBJECT_DETECTION_EVENT UNPACKING |
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| 179 | |||
| 180 | |||
| 181 | /** |
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| 182 | * @brief Get field time from object_detection_event message |
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| 183 | * |
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| 184 | * @return Timestamp in milliseconds since system boot |
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| 185 | */ |
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| 186 | static inline uint32_t mavlink_msg_object_detection_event_get_time(const mavlink_message_t* msg) |
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| 187 | { |
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| 188 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 189 | } |
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| 190 | |||
| 191 | /** |
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| 192 | * @brief Get field object_id from object_detection_event message |
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| 193 | * |
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| 194 | * @return Object ID |
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| 195 | */ |
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| 196 | static inline uint16_t mavlink_msg_object_detection_event_get_object_id(const mavlink_message_t* msg) |
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| 197 | { |
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| 198 | return _MAV_RETURN_uint16_t(msg, 4); |
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| 199 | } |
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| 200 | |||
| 201 | /** |
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| 202 | * @brief Get field type from object_detection_event message |
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| 203 | * |
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| 204 | * @return Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal |
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| 205 | */ |
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| 206 | static inline uint8_t mavlink_msg_object_detection_event_get_type(const mavlink_message_t* msg) |
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| 207 | { |
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| 208 | return _MAV_RETURN_uint8_t(msg, 6); |
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| 209 | } |
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| 210 | |||
| 211 | /** |
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| 212 | * @brief Get field name from object_detection_event message |
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| 213 | * |
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| 214 | * @return Name of the object as defined by the detector |
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| 215 | */ |
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| 216 | static inline uint16_t mavlink_msg_object_detection_event_get_name(const mavlink_message_t* msg, char *name) |
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| 217 | { |
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| 218 | return _MAV_RETURN_char_array(msg, name, 20, 7); |
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| 219 | } |
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| 220 | |||
| 221 | /** |
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| 222 | * @brief Get field quality from object_detection_event message |
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| 223 | * |
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| 224 | * @return Detection quality / confidence. 0: bad, 255: maximum confidence |
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| 225 | */ |
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| 226 | static inline uint8_t mavlink_msg_object_detection_event_get_quality(const mavlink_message_t* msg) |
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| 227 | { |
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| 228 | return _MAV_RETURN_uint8_t(msg, 27); |
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| 229 | } |
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| 230 | |||
| 231 | /** |
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| 232 | * @brief Get field bearing from object_detection_event message |
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| 233 | * |
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| 234 | * @return Angle of the object with respect to the body frame in NED coordinates in radians. 0: front |
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| 235 | */ |
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| 236 | static inline float mavlink_msg_object_detection_event_get_bearing(const mavlink_message_t* msg) |
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| 237 | { |
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| 238 | return _MAV_RETURN_float(msg, 28); |
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| 239 | } |
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| 240 | |||
| 241 | /** |
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| 242 | * @brief Get field distance from object_detection_event message |
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| 243 | * |
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| 244 | * @return Ground distance in meters |
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| 245 | */ |
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| 246 | static inline float mavlink_msg_object_detection_event_get_distance(const mavlink_message_t* msg) |
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| 247 | { |
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| 248 | return _MAV_RETURN_float(msg, 32); |
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| 249 | } |
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| 250 | |||
| 251 | /** |
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| 252 | * @brief Decode a object_detection_event message into a struct |
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| 253 | * |
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| 254 | * @param msg The message to decode |
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| 255 | * @param object_detection_event C-struct to decode the message contents into |
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| 256 | */ |
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| 257 | static inline void mavlink_msg_object_detection_event_decode(const mavlink_message_t* msg, mavlink_object_detection_event_t* object_detection_event) |
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| 258 | { |
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| 259 | #if MAVLINK_NEED_BYTE_SWAP |
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| 260 | object_detection_event->time = mavlink_msg_object_detection_event_get_time(msg); |
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| 261 | object_detection_event->object_id = mavlink_msg_object_detection_event_get_object_id(msg); |
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| 262 | object_detection_event->type = mavlink_msg_object_detection_event_get_type(msg); |
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| 263 | mavlink_msg_object_detection_event_get_name(msg, object_detection_event->name); |
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| 264 | object_detection_event->quality = mavlink_msg_object_detection_event_get_quality(msg); |
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| 265 | object_detection_event->bearing = mavlink_msg_object_detection_event_get_bearing(msg); |
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| 266 | object_detection_event->distance = mavlink_msg_object_detection_event_get_distance(msg); |
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| 267 | #else |
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| 268 | memcpy(object_detection_event, _MAV_PAYLOAD(msg), 36); |
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| 269 | #endif |
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| 270 | } |