/*
extract target sysid and compid from a message. int16_t is used so
that the caller can set them to -1 and know when a sysid or compid
target is found in the message
*/
void MAVLink_routing::get_targets(const mavlink_message_t* msg, int16_t &sysid, int16_t &compid)
{
const mavlink_msg_entry_t *msg_entry = mavlink_get_msg_entry(msg->msgid);
if (msg_entry == nullptr) {
return;
}
if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
sysid = _MAV_RETURN_uint8_t(msg, msg_entry->target_system_ofs);
}
if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
compid = _MAV_RETURN_uint8_t(msg, msg_entry->target_component_ofs);
}
}
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
/**
* @brief Get field target_component from mission_request message
*
* @return Component ID
*/
uint8_t mavlink_msg_mission_request_get_target_component(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 3);
}
/**
* @brief Get field target_system from mission_request message
*
* @return System ID
*/
uint8_t mavlink_msg_mission_request_get_target_system(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 2);
}
