VK_Mavlink/v2.0/common/mavlink_msg_mission_current.h

#pragma once
// MESSAGE MISSION_CURRENT PACKING

#define MAVLINK_MSG_ID_MISSION_CURRENT 42

MAVPACKED(
typedef struct __mavlink_mission_current_t {
 uint16_t seq; /*<  Sequence*/
 uint16_t total; /*<  Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.*/
 uint8_t mission_state; /*<  Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.*/
 uint8_t mission_mode; /*<  Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).*/
 uint32_t mission_id; /*<  Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).*/
 uint32_t fence_id; /*<  Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).*/
 uint32_t rally_points_id; /*<  Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).*/
}) mavlink_mission_current_t;

#define MAVLINK_MSG_ID_MISSION_CURRENT_LEN 18
#define MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN 2
#define MAVLINK_MSG_ID_42_LEN 18
#define MAVLINK_MSG_ID_42_MIN_LEN 2

#define MAVLINK_MSG_ID_MISSION_CURRENT_CRC 28
#define MAVLINK_MSG_ID_42_CRC 28



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \
    42, \
    "MISSION_CURRENT", \
    7, \
    {  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \
         { "total", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_mission_current_t, total) }, \
         { "mission_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_current_t, mission_state) }, \
         { "mission_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_current_t, mission_mode) }, \
         { "mission_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 6, offsetof(mavlink_mission_current_t, mission_id) }, \
         { "fence_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 10, offsetof(mavlink_mission_current_t, fence_id) }, \
         { "rally_points_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 14, offsetof(mavlink_mission_current_t, rally_points_id) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \
    "MISSION_CURRENT", \
    7, \
    {  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \
         { "total", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_mission_current_t, total) }, \
         { "mission_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_current_t, mission_state) }, \
         { "mission_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_current_t, mission_mode) }, \
         { "mission_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 6, offsetof(mavlink_mission_current_t, mission_id) }, \
         { "fence_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 10, offsetof(mavlink_mission_current_t, fence_id) }, \
         { "rally_points_id", NULL, MAVLINK_TYPE_UINT32_T, 0, 14, offsetof(mavlink_mission_current_t, rally_points_id) }, \
         } \
}
#endif

/**
 * @brief Pack a mission_current 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 seq  Sequence
 * @param total  Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
 * @param mission_state  Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
 * @param mission_mode  Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
 * @param mission_id  Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
 * @param fence_id  Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
 * @param rally_points_id  Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint16_t seq, uint16_t total, uint8_t mission_state, uint8_t mission_mode, uint32_t mission_id, uint32_t fence_id, uint32_t rally_points_id)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
    _mav_put_uint16_t(buf, 0, seq);
    _mav_put_uint16_t(buf, 2, total);
    _mav_put_uint8_t(buf, 4, mission_state);
    _mav_put_uint8_t(buf, 5, mission_mode);
    _mav_put_uint32_t(buf, 6, mission_id);
    _mav_put_uint32_t(buf, 10, fence_id);
    _mav_put_uint32_t(buf, 14, rally_points_id);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
#else
    mavlink_mission_current_t packet;
    packet.seq = seq;
    packet.total = total;
    packet.mission_state = mission_state;
    packet.mission_mode = mission_mode;
    packet.mission_id = mission_id;
    packet.fence_id = fence_id;
    packet.rally_points_id = rally_points_id;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
}

/**
 * @brief Pack a mission_current 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 seq  Sequence
 * @param total  Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
 * @param mission_state  Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
 * @param mission_mode  Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
 * @param mission_id  Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
 * @param fence_id  Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
 * @param rally_points_id  Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint16_t seq,uint16_t total,uint8_t mission_state,uint8_t mission_mode,uint32_t mission_id,uint32_t fence_id,uint32_t rally_points_id)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
    _mav_put_uint16_t(buf, 0, seq);
    _mav_put_uint16_t(buf, 2, total);
    _mav_put_uint8_t(buf, 4, mission_state);
    _mav_put_uint8_t(buf, 5, mission_mode);
    _mav_put_uint32_t(buf, 6, mission_id);
    _mav_put_uint32_t(buf, 10, fence_id);
    _mav_put_uint32_t(buf, 14, rally_points_id);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
#else
    mavlink_mission_current_t packet;
    packet.seq = seq;
    packet.total = total;
    packet.mission_state = mission_state;
    packet.mission_mode = mission_mode;
    packet.mission_id = mission_id;
    packet.fence_id = fence_id;
    packet.rally_points_id = rally_points_id;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
}

/**
 * @brief Encode a mission_current 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 mission_current C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_mission_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current)
{
    return mavlink_msg_mission_current_pack(system_id, component_id, msg, mission_current->seq, mission_current->total, mission_current->mission_state, mission_current->mission_mode, mission_current->mission_id, mission_current->fence_id, mission_current->rally_points_id);
}

/**
 * @brief Encode a mission_current 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 mission_current C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_mission_current_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current)
{
    return mavlink_msg_mission_current_pack_chan(system_id, component_id, chan, msg, mission_current->seq, mission_current->total, mission_current->mission_state, mission_current->mission_mode, mission_current->mission_id, mission_current->fence_id, mission_current->rally_points_id);
}

/**
 * @brief Send a mission_current message
 * @param chan MAVLink channel to send the message
 *
 * @param seq  Sequence
 * @param total  Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
 * @param mission_state  Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
 * @param mission_mode  Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
 * @param mission_id  Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
 * @param fence_id  Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
 * @param rally_points_id  Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq, uint16_t total, uint8_t mission_state, uint8_t mission_mode, uint32_t mission_id, uint32_t fence_id, uint32_t rally_points_id)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
    _mav_put_uint16_t(buf, 0, seq);
    _mav_put_uint16_t(buf, 2, total);
    _mav_put_uint8_t(buf, 4, mission_state);
    _mav_put_uint8_t(buf, 5, mission_mode);
    _mav_put_uint32_t(buf, 6, mission_id);
    _mav_put_uint32_t(buf, 10, fence_id);
    _mav_put_uint32_t(buf, 14, rally_points_id);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
#else
    mavlink_mission_current_t packet;
    packet.seq = seq;
    packet.total = total;
    packet.mission_state = mission_state;
    packet.mission_mode = mission_mode;
    packet.mission_id = mission_id;
    packet.fence_id = fence_id;
    packet.rally_points_id = rally_points_id;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
#endif
}

/**
 * @brief Send a mission_current message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_mission_current_send_struct(mavlink_channel_t chan, const mavlink_mission_current_t* mission_current)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_mission_current_send(chan, mission_current->seq, mission_current->total, mission_current->mission_state, mission_current->mission_mode, mission_current->mission_id, mission_current->fence_id, mission_current->rally_points_id);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)mission_current, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
#endif
}

#if MAVLINK_MSG_ID_MISSION_CURRENT_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_mission_current_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t seq, uint16_t total, uint8_t mission_state, uint8_t mission_mode, uint32_t mission_id, uint32_t fence_id, uint32_t rally_points_id)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint16_t(buf, 0, seq);
    _mav_put_uint16_t(buf, 2, total);
    _mav_put_uint8_t(buf, 4, mission_state);
    _mav_put_uint8_t(buf, 5, mission_mode);
    _mav_put_uint32_t(buf, 6, mission_id);
    _mav_put_uint32_t(buf, 10, fence_id);
    _mav_put_uint32_t(buf, 14, rally_points_id);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
#else
    mavlink_mission_current_t *packet = (mavlink_mission_current_t *)msgbuf;
    packet->seq = seq;
    packet->total = total;
    packet->mission_state = mission_state;
    packet->mission_mode = mission_mode;
    packet->mission_id = mission_id;
    packet->fence_id = fence_id;
    packet->rally_points_id = rally_points_id;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)packet, MAVLINK_MSG_ID_MISSION_CURRENT_MIN_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
#endif
}
#endif

#endif

// MESSAGE MISSION_CURRENT UNPACKING


/**
 * @brief Get field seq from mission_current message
 *
 * @return  Sequence
 */
static inline uint16_t mavlink_msg_mission_current_get_seq(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint16_t(msg,  0);
}

/**
 * @brief Get field total from mission_current message
 *
 * @return  Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
 */
static inline uint16_t mavlink_msg_mission_current_get_total(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint16_t(msg,  2);
}

/**
 * @brief Get field mission_state from mission_current message
 *
 * @return  Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
 */
static inline uint8_t mavlink_msg_mission_current_get_mission_state(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  4);
}

/**
 * @brief Get field mission_mode from mission_current message
 *
 * @return  Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
 */
static inline uint8_t mavlink_msg_mission_current_get_mission_mode(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  5);
}

/**
 * @brief Get field mission_id from mission_current message
 *
 * @return  Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
 */
static inline uint32_t mavlink_msg_mission_current_get_mission_id(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  6);
}

/**
 * @brief Get field fence_id from mission_current message
 *
 * @return  Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
 */
static inline uint32_t mavlink_msg_mission_current_get_fence_id(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  10);
}

/**
 * @brief Get field rally_points_id from mission_current message
 *
 * @return  Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).
 */
static inline uint32_t mavlink_msg_mission_current_get_rally_points_id(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  14);
}

/**
 * @brief Decode a mission_current message into a struct
 *
 * @param msg The message to decode
 * @param mission_current C-struct to decode the message contents into
 */
static inline void mavlink_msg_mission_current_decode(const mavlink_message_t* msg, mavlink_mission_current_t* mission_current)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mission_current->seq = mavlink_msg_mission_current_get_seq(msg);
    mission_current->total = mavlink_msg_mission_current_get_total(msg);
    mission_current->mission_state = mavlink_msg_mission_current_get_mission_state(msg);
    mission_current->mission_mode = mavlink_msg_mission_current_get_mission_mode(msg);
    mission_current->mission_id = mavlink_msg_mission_current_get_mission_id(msg);
    mission_current->fence_id = mavlink_msg_mission_current_get_fence_id(msg);
    mission_current->rally_points_id = mavlink_msg_mission_current_get_rally_points_id(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_MISSION_CURRENT_LEN? msg->len : MAVLINK_MSG_ID_MISSION_CURRENT_LEN;
        memset(mission_current, 0, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
    memcpy(mission_current, _MAV_PAYLOAD(msg), len);
#endif
}