public static uavcan_equipment_gnss_ECEFPositionVelocity ByteArrayToDroneCANMsg(byte[] transfer, int startoffset) { var ans = new uavcan_equipment_gnss_ECEFPositionVelocity(); ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray())); return(ans); }
static void _decode_uavcan_equipment_gnss_ECEFPositionVelocity(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_gnss_ECEFPositionVelocity msg, bool tao) { /*['__doc__', '__init__', '__module__', '__repr__', '__str__', 'get_normalized_definition', 'name', 'type']*/ for (int i = 0; i < 3; i++) { canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.velocity_xyz[i]); bit_ofs += 32; } /*['__doc__', '__init__', '__module__', '__repr__', '__str__', 'get_normalized_definition', 'name', 'type']*/ for (int i = 0; i < 3; i++) { canardDecodeScalar(transfer, bit_ofs, 36, true, ref msg.position_xyz_mm[i]); bit_ofs += 36; } bit_ofs += 6; if (!tao) { canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.covariance_len); bit_ofs += 6; } else { msg.covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16); } for (int i = 0; i < msg.covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } }
static void _encode_uavcan_equipment_gnss_ECEFPositionVelocity(uint8_t[] buffer, uavcan_equipment_gnss_ECEFPositionVelocity msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao) { for (int i = 0; i < 3; i++) { memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 32, msg.velocity_xyz[i]); chunk_cb(buffer, 32, ctx); } for (int i = 0; i < 3; i++) { memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 36, msg.position_xyz_mm[i]); chunk_cb(buffer, 36, ctx); } chunk_cb(null, 6, ctx); if (!tao) { memset(buffer, 0, 8); canardEncodeScalar(buffer, 0, 6, msg.covariance_len); chunk_cb(buffer, 6, ctx); } for (int i = 0; i < msg.covariance_len; i++) { memset(buffer, 0, 8); { uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.covariance[i]); canardEncodeScalar(buffer, 0, 16, float16_val); } chunk_cb(buffer, 16, ctx); } }
static uint32_t decode_uavcan_equipment_gnss_ECEFPositionVelocity(CanardRxTransfer transfer, uavcan_equipment_gnss_ECEFPositionVelocity msg) { uint32_t bit_ofs = 0; _decode_uavcan_equipment_gnss_ECEFPositionVelocity(transfer, ref bit_ofs, msg, true); return((bit_ofs + 7) / 8); }
static void encode_uavcan_equipment_gnss_ECEFPositionVelocity(uavcan_equipment_gnss_ECEFPositionVelocity msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx) { uint8_t[] buffer = new uint8_t[8]; _encode_uavcan_equipment_gnss_ECEFPositionVelocity(buffer, msg, chunk_cb, ctx, true); }
static void _decode_uavcan_equipment_gnss_ECEFPositionVelocity(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_gnss_ECEFPositionVelocity msg, bool tao) { for (int i = 0; i < 3; i++) { canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.velocity_xyz[i]); bit_ofs += 32; } for (int i = 0; i < 3; i++) { canardDecodeScalar(transfer, bit_ofs, 36, true, ref msg.position_xyz_mm[i]); bit_ofs += 36; } bit_ofs += 6; if (!tao) { canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.covariance_len); bit_ofs += 6; } else { msg.covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16); } msg.covariance = new Single[msg.covariance_len]; for (int i = 0; i < msg.covariance_len; i++) { { uint16_t float16_val = 0; canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val); msg.covariance[i] = canardConvertFloat16ToNativeFloat(float16_val); } bit_ofs += 16; } }