84 lines
2.1 KiB
C
84 lines
2.1 KiB
C
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#pragma once
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#ifdef MAVLINK_USE_MESSAGE_INFO
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#define MAVLINK_HAVE_GET_MESSAGE_INFO
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/*
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return the message_info struct for a message
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*/
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MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid)
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{
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static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
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/*
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use a bisection search to find the right entry. A perfect hash may be better
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Note that this assumes the table is sorted with primary key msgid
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*/
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const uint32_t count = sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
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if (count == 0) {
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return NULL;
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}
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uint32_t low=0, high=count-1;
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while (low < high) {
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uint32_t mid = (low+high)/2;
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if (msgid < mavlink_message_info[mid].msgid) {
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high = mid;
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continue;
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}
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if (msgid > mavlink_message_info[mid].msgid) {
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low = mid+1;
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continue;
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}
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return &mavlink_message_info[mid];
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}
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if (mavlink_message_info[low].msgid == msgid) {
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return &mavlink_message_info[low];
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}
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return NULL;
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}
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/*
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return the message_info struct for a message
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*/
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MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
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{
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return mavlink_get_message_info_by_id(msg->msgid);
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}
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/*
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return the message_info struct for a message
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*/
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MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name)
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{
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static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES;
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/*
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use a bisection search to find the right entry. A perfect hash may be better
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Note that this assumes the table is sorted with primary key name
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*/
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const uint32_t count = sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
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if (count == 0) {
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return NULL;
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}
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uint32_t low=0, high=count-1;
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while (low < high) {
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uint32_t mid = (low+high)/2;
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int cmp = strcmp(mavlink_message_names[mid].name, name);
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if (cmp > 0) {
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high = mid;
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continue;
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}
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if (cmp < 0) {
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low = mid+1;
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continue;
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}
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low = mid;
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break;
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}
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if (strcmp(mavlink_message_names[low].name, name) == 0) {
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return mavlink_get_message_info_by_id(mavlink_message_names[low].msgid);
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}
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return NULL;
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}
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#endif // MAVLINK_USE_MESSAGE_INFO
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