public static uavcan_olliw_storm32_CommandAck ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_olliw_storm32_CommandAck();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _encode_uavcan_olliw_storm32_CommandAck(uint8_t[] buffer, uavcan_olliw_storm32_CommandAck msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 8, msg.gimbal_id);
chunk_cb(buffer, 8, ctx);
if (!tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 8, msg.payload_len);
chunk_cb(buffer, 8, ctx);
}
for (int i = 0; i < msg.payload_len; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 8, msg.payload[i]);
chunk_cb(buffer, 8, ctx);
}
}
static void _decode_uavcan_olliw_storm32_CommandAck(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_olliw_storm32_CommandAck msg, bool tao)
{
canardDecodeScalar(transfer, bit_ofs, 8, false, ref msg.gimbal_id);
bit_ofs += 8;
if (!tao)
{
canardDecodeScalar(transfer, bit_ofs, 8, false, ref msg.payload_len);
bit_ofs += 8;
}
else
{
msg.payload_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 8);
}
msg.payload = new uint8_t[msg.payload_len];
for (int i = 0; i < msg.payload_len; i++)
{
canardDecodeScalar(transfer, bit_ofs, 8, false, ref msg.payload[i]);
bit_ofs += 8;
}
}
static uint32_t decode_uavcan_olliw_storm32_CommandAck(CanardRxTransfer transfer, uavcan_olliw_storm32_CommandAck msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_olliw_storm32_CommandAck(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
static void encode_uavcan_olliw_storm32_CommandAck(uavcan_olliw_storm32_CommandAck msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_olliw_storm32_CommandAck(buffer, msg, chunk_cb, ctx, true);
}
