static void _encode_uavcan_olliw_uc4h_Distance(uint8_t[] buffer, uavcan_olliw_uc4h_Distance msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 4, msg.fixed_axis_pitch);
chunk_cb(buffer, 4, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 5, msg.fixed_axis_yaw);
chunk_cb(buffer, 5, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 4, msg.sensor_sub_id);
chunk_cb(buffer, 4, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 3, msg.range_flag);
chunk_cb(buffer, 3, ctx);
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.range);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
if (!tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 1, msg.sensor_property_len);
chunk_cb(buffer, 1, ctx);
}
for (int i = 0; i < msg.sensor_property_len; i++)
{
_encode_uavcan_olliw_uc4h_DistanceSensorProperties(buffer, msg.sensor_property[i], chunk_cb, ctx, false);
}
}
static uint32_t decode_uavcan_olliw_uc4h_Distance(CanardRxTransfer transfer, uavcan_olliw_uc4h_Distance msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_olliw_uc4h_Distance(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
public static uavcan_olliw_uc4h_Distance ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_olliw_uc4h_Distance();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _decode_uavcan_olliw_uc4h_Distance(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_olliw_uc4h_Distance msg, bool tao)
{
canardDecodeScalar(transfer, bit_ofs, 4, true, ref msg.fixed_axis_pitch);
bit_ofs += 4;
canardDecodeScalar(transfer, bit_ofs, 5, true, ref msg.fixed_axis_yaw);
bit_ofs += 5;
canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.sensor_sub_id);
bit_ofs += 4;
canardDecodeScalar(transfer, bit_ofs, 3, false, ref msg.range_flag);
bit_ofs += 3;
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.range = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
if (!tao)
{
canardDecodeScalar(transfer, bit_ofs, 1, false, ref msg.sensor_property_len);
bit_ofs += 1;
}
if (tao)
{
msg.sensor_property_len = 0;
while (((transfer.payload_len * 8) - bit_ofs) > 0)
{
_decode_uavcan_olliw_uc4h_DistanceSensorProperties(transfer, ref bit_ofs, msg.sensor_property[msg.sensor_property_len], false);
msg.sensor_property_len++;
}
}
else
{
for (int i = 0; i < msg.sensor_property_len; i++)
{
_decode_uavcan_olliw_uc4h_DistanceSensorProperties(transfer, ref bit_ofs, msg.sensor_property[i], false);
}
}
}
/*
*
* static uavcan_message_descriptor_s uavcan_olliw_uc4h_Distance_descriptor = {
* UAVCAN_OLLIW_UC4H_DISTANCE_DT_SIG,
* UAVCAN_OLLIW_UC4H_DISTANCE_DT_ID,
* CanardTransferTypeBroadcast,
* sizeof(uavcan_olliw_uc4h_Distance),
* UAVCAN_OLLIW_UC4H_DISTANCE_MAX_PACK_SIZE,
* encode_func,
* decode_func,
* null
* };
*/
static void encode_uavcan_olliw_uc4h_Distance(uavcan_olliw_uc4h_Distance msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_olliw_uc4h_Distance(buffer, msg, chunk_cb, ctx, true);
}