public static uavcan_equipment_ahrs_RawIMU ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_equipment_ahrs_RawIMU();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _encode_uavcan_equipment_ahrs_RawIMU(uint8_t[] buffer, uavcan_equipment_ahrs_RawIMU msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
_encode_uavcan_Timestamp(buffer, msg.timestamp, chunk_cb, ctx, false);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.integration_interval);
chunk_cb(buffer, 32, ctx);
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.rate_gyro_latest[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.rate_gyro_integral[i]);
chunk_cb(buffer, 32, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.accelerometer_latest[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 32, msg.accelerometer_integral[i]);
chunk_cb(buffer, 32, 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_ahrs_RawIMU(CanardRxTransfer transfer, uavcan_equipment_ahrs_RawIMU msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_equipment_ahrs_RawIMU(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
/*
*
* static uavcan_message_descriptor_s uavcan_equipment_ahrs_RawIMU_descriptor = {
* UAVCAN_EQUIPMENT_AHRS_RAWIMU_DT_SIG,
* UAVCAN_EQUIPMENT_AHRS_RAWIMU_DT_ID,
*
* CanardTransferTypeBroadcast,
*
* sizeof(uavcan_equipment_ahrs_RawIMU),
* UAVCAN_EQUIPMENT_AHRS_RAWIMU_MAX_PACK_SIZE,
* encode_func,
* decode_func,
*
* null
*
* };
*/
static void encode_uavcan_equipment_ahrs_RawIMU(uavcan_equipment_ahrs_RawIMU msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_equipment_ahrs_RawIMU(buffer, msg, chunk_cb, ctx, true);
}
static void _decode_uavcan_equipment_ahrs_RawIMU(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_ahrs_RawIMU msg, bool tao)
{
_decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false);
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.integration_interval);
bit_ofs += 32;
/*['__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.rate_gyro_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
/*['__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.rate_gyro_integral[i]);
bit_ofs += 32;
}
/*['__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.accelerometer_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
/*['__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.accelerometer_integral[i]);
bit_ofs += 32;
}
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 _decode_uavcan_equipment_ahrs_RawIMU(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_ahrs_RawIMU msg, bool tao)
{
_decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false);
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.integration_interval);
bit_ofs += 32;
for (int i = 0; i < 3; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.rate_gyro_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
for (int i = 0; i < 3; i++)
{
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.rate_gyro_integral[i]);
bit_ofs += 32;
}
for (int i = 0; i < 3; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.accelerometer_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
for (int i = 0; i < 3; i++)
{
canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.accelerometer_integral[i]);
bit_ofs += 32;
}
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;
}
}
