예제 #1
0
 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);
     }
 }
예제 #2
0
        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);
            }
예제 #4
0
        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);
                }
            }
        }
예제 #5
0
/*
 *
 * 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);
        }