public static uavcan_equipment_ahrs_Solution ByteArrayToDroneCANMsg(byte[] transfer, int startoffset) { var ans = new uavcan_equipment_ahrs_Solution(); ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray())); return(ans); }
static void _encode_uavcan_equipment_ahrs_Solution(uint8_t[] buffer, uavcan_equipment_ahrs_Solution msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao) { _encode_uavcan_Timestamp(buffer, msg.timestamp, chunk_cb, ctx, false); for (int i = 0; i < 4; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.orientation_xyzw[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } chunk_cb(null, 4, ctx); memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 4, msg.orientation_covariance_len); chunk_cb(buffer, 4, ctx); for (int i = 0; i < msg.orientation_covariance_len; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.orientation_covariance[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } for (int i = 0; i < 3; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.angular_velocity[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } chunk_cb(null, 4, ctx); memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 4, msg.angular_velocity_covariance_len); chunk_cb(buffer, 4, ctx); for (int i = 0; i < msg.angular_velocity_covariance_len; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.angular_velocity_covariance[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } for (int i = 0; i < 3; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.linear_acceleration[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } if (!tao) { memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 4, msg.linear_acceleration_covariance_len); chunk_cb(buffer, 4, ctx); } for (int i = 0; i < msg.linear_acceleration_covariance_len; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.linear_acceleration_covariance[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } }
static uint32_t decode_uavcan_equipment_ahrs_Solution(CanardRxTransfer transfer, uavcan_equipment_ahrs_Solution msg) { uint32_t bit_ofs = 0; _decode_uavcan_equipment_ahrs_Solution(transfer, ref bit_ofs, msg, true); return((bit_ofs + 7) / 8); }
static void encode_uavcan_equipment_ahrs_Solution(uavcan_equipment_ahrs_Solution msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx) { uint8_t[] buffer = new uint8_t[8]; _encode_uavcan_equipment_ahrs_Solution(buffer, msg, chunk_cb, ctx, true); }
static void _decode_uavcan_equipment_ahrs_Solution(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_ahrs_Solution msg, bool tao) { _decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false); for (int i = 0; i < 4; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.orientation_xyzw[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } bit_ofs += 4; canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.orientation_covariance_len); bit_ofs += 4; msg.orientation_covariance = new Single[msg.orientation_covariance_len]; for (int i = 0; i < msg.orientation_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.orientation_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } for (int i = 0; i < 3; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.angular_velocity[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } bit_ofs += 4; canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.angular_velocity_covariance_len); bit_ofs += 4; msg.angular_velocity_covariance = new Single[msg.angular_velocity_covariance_len]; for (int i = 0; i < msg.angular_velocity_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.angular_velocity_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } for (int i = 0; i < 3; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.linear_acceleration[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } if (!tao) { canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.linear_acceleration_covariance_len); bit_ofs += 4; } else { msg.linear_acceleration_covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16); } msg.linear_acceleration_covariance = new Single[msg.linear_acceleration_covariance_len]; for (int i = 0; i < msg.linear_acceleration_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.linear_acceleration_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } }
static void _decode_uavcan_equipment_ahrs_Solution(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_ahrs_Solution msg, bool tao) { _decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false); /*['__doc__', '__init__', '__module__', '__repr__', '__str__', 'get_normalized_definition', 'name', 'type']*/ for (int i = 0; i < 4; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.orientation_xyzw[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } bit_ofs += 4; canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.orientation_covariance_len); bit_ofs += 4; for (int i = 0; i < msg.orientation_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.orientation_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } /*['__doc__', '__init__', '__module__', '__repr__', '__str__', 'get_normalized_definition', 'name', 'type']*/ for (int i = 0; i < 3; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.angular_velocity[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } bit_ofs += 4; canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.angular_velocity_covariance_len); bit_ofs += 4; for (int i = 0; i < msg.angular_velocity_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.angular_velocity_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } /*['__doc__', '__init__', '__module__', '__repr__', '__str__', 'get_normalized_definition', 'name', 'type']*/ for (int i = 0; i < 3; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.linear_acceleration[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } if (!tao) { canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.linear_acceleration_covariance_len); bit_ofs += 4; } else { msg.linear_acceleration_covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16); } for (int i = 0; i < msg.linear_acceleration_covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.linear_acceleration_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } }