public static uavcan_olliw_storm32_Command ByteArrayToDroneCANMsg(byte[] transfer, int startoffset) { var ans = new uavcan_olliw_storm32_Command(); ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray())); return(ans); }
static void _encode_uavcan_olliw_storm32_Command(uint8_t[] buffer, uavcan_olliw_storm32_Command 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_Command(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_olliw_storm32_Command 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_Command(CanardRxTransfer transfer, uavcan_olliw_storm32_Command msg) { uint32_t bit_ofs = 0; _decode_uavcan_olliw_storm32_Command(transfer, ref bit_ofs, msg, true); return((bit_ofs + 7) / 8); }
/* * * static uavcan_message_descriptor_s uavcan_olliw_storm32_Command_descriptor = { * UAVCAN_OLLIW_STORM32_COMMAND_DT_SIG, * UAVCAN_OLLIW_STORM32_COMMAND_DT_ID, * CanardTransferTypeBroadcast, * sizeof(uavcan_olliw_storm32_Command), * UAVCAN_OLLIW_STORM32_COMMAND_MAX_PACK_SIZE, * encode_func, * decode_func, * null * }; */ static void encode_uavcan_olliw_storm32_Command(uavcan_olliw_storm32_Command msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx) { uint8_t[] buffer = new uint8_t[8]; _encode_uavcan_olliw_storm32_Command(buffer, msg, chunk_cb, ctx, true); }