public static uavcan_navigation_GlobalNavigationSolution ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_navigation_GlobalNavigationSolution();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _encode_uavcan_navigation_GlobalNavigationSolution(uint8_t[] buffer, uavcan_navigation_GlobalNavigationSolution msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
_encode_uavcan_Timestamp(buffer, msg.timestamp, chunk_cb, ctx, false);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 64, msg.longitude);
chunk_cb(buffer, 64, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 64, msg.latitude);
chunk_cb(buffer, 64, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.height_ellipsoid);
chunk_cb(buffer, 32, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.height_msl);
chunk_cb(buffer, 32, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.height_agl);
chunk_cb(buffer, 32, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.height_baro);
chunk_cb(buffer, 32, ctx);
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.qnh_hpa);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
for (int i = 0; i < 4; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.orientation_xyzw[i]);
chunk_cb(buffer, 32, ctx);
}
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 6, msg.pose_covariance_len);
chunk_cb(buffer, 6, ctx);
for (int i = 0; i < msg.pose_covariance_len; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.pose_covariance[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.linear_velocity_body[i]);
chunk_cb(buffer, 32, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.angular_velocity_body[i]);
chunk_cb(buffer, 32, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.linear_acceleration_body[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
if (!tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 6, msg.velocity_covariance_len);
chunk_cb(buffer, 6, ctx);
}
for (int i = 0; i < msg.velocity_covariance_len; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.velocity_covariance[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
}
static uint32_t decode_uavcan_navigation_GlobalNavigationSolution(CanardRxTransfer transfer, uavcan_navigation_GlobalNavigationSolution msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_navigation_GlobalNavigationSolution(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
static void encode_uavcan_navigation_GlobalNavigationSolution(uavcan_navigation_GlobalNavigationSolution msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_navigation_GlobalNavigationSolution(buffer, msg, chunk_cb, ctx, true);
}
static void _decode_uavcan_navigation_GlobalNavigationSolution(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_navigation_GlobalNavigationSolution msg, bool tao)
{
_decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false);
canardDecodeScalar(transfer, bit_ofs, 64, true, ref msg.longitude);
bit_ofs += 64;
canardDecodeScalar(transfer, bit_ofs, 64, true, ref msg.latitude);
bit_ofs += 64;
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.height_ellipsoid);
bit_ofs += 32;
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.height_msl);
bit_ofs += 32;
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.height_agl);
bit_ofs += 32;
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.height_baro);
bit_ofs += 32;
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.qnh_hpa = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
for (int i = 0; i < 4; i++)
{
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.orientation_xyzw[i]);
bit_ofs += 32;
}
canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.pose_covariance_len);
bit_ofs += 6;
msg.pose_covariance = new Single[msg.pose_covariance_len];
for (int i = 0; i < msg.pose_covariance_len; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.pose_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
for (int i = 0; i < 3; i++)
{
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.linear_velocity_body[i]);
bit_ofs += 32;
}
for (int i = 0; i < 3; i++)
{
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.angular_velocity_body[i]);
bit_ofs += 32;
}
for (int i = 0; i < 3; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.linear_acceleration_body[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
if (!tao)
{
canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.velocity_covariance_len);
bit_ofs += 6;
}
else
{
msg.velocity_covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16);
}
msg.velocity_covariance = new Single[msg.velocity_covariance_len];
for (int i = 0; i < msg.velocity_covariance_len; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.velocity_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
}