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lib/main/MAVLink/mavlink_get_info.h

@@ -0,0 +1,83 @@
+#pragma once
+
+#ifdef MAVLINK_USE_MESSAGE_INFO
+#define MAVLINK_HAVE_GET_MESSAGE_INFO
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid)
+{
+	static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
+	/*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key msgid
+	*/
+	const uint32_t count = sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
+	if (count == 0) {
+		return NULL;
+	}
+	uint32_t low=0, high=count-1;
+	while (low < high) {
+		uint32_t mid = (low+high)/2;
+		if (msgid < mavlink_message_info[mid].msgid) {
+			high = mid;
+			continue;
+		}
+		if (msgid > mavlink_message_info[mid].msgid) {
+			low = mid+1;
+			continue;
+		}
+		return &mavlink_message_info[mid];
+	}
+	if (mavlink_message_info[low].msgid == msgid) {
+		return &mavlink_message_info[low];
+	}
+	return NULL;
+}
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
+{
+    return mavlink_get_message_info_by_id(msg->msgid);
+}
+
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name)
+{
+	static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES;
+	/*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key name
+	*/
+	const uint32_t count = sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]);
+	if (count == 0) {
+		return NULL;
+	}
+	uint32_t low=0, high=count-1;
+	while (low < high) {
+		uint32_t mid = (low+high)/2;
+		int cmp = strcmp(mavlink_message_names[mid].name, name);
+		if (cmp > 0) {
+			high = mid;
+			continue;
+		}
+		if (cmp < 0) {
+			low = mid+1;
+			continue;
+		}
+		low = mid;
+		break;
+	}
+	if (strcmp(mavlink_message_names[low].name, name) == 0) {
+		return mavlink_get_message_info_by_id(mavlink_message_names[low].msgid);
+	}
+	return NULL;
+}
+#endif // MAVLINK_USE_MESSAGE_INFO
+
+