static uint32_t decode_uavcan_equipment_gnss_Fix(CanardRxTransfer transfer, uavcan_equipment_gnss_Fix msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_equipment_gnss_Fix(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
public static uavcan_equipment_gnss_Fix ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_equipment_gnss_Fix();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _encode_uavcan_equipment_gnss_Fix(uint8_t[] buffer, uavcan_equipment_gnss_Fix msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
_encode_uavcan_Timestamp(buffer, msg.timestamp, chunk_cb, ctx, false);
_encode_uavcan_Timestamp(buffer, msg.gnss_timestamp, chunk_cb, ctx, false);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 3, msg.gnss_time_standard);
chunk_cb(buffer, 3, ctx);
chunk_cb(null, 5, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 8, msg.num_leap_seconds);
chunk_cb(buffer, 8, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 37, msg.longitude_deg_1e8);
chunk_cb(buffer, 37, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 37, msg.latitude_deg_1e8);
chunk_cb(buffer, 37, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 27, msg.height_ellipsoid_mm);
chunk_cb(buffer, 27, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 27, msg.height_msl_mm);
chunk_cb(buffer, 27, ctx);
for (int i = 0; i < 3; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.ned_velocity[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 6, msg.sats_used);
chunk_cb(buffer, 6, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 2, msg.status);
chunk_cb(buffer, 2, ctx);
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.pdop);
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.position_covariance_len);
chunk_cb(buffer, 4, ctx);
for (int i = 0; i < msg.position_covariance_len; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.position_covariance[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
if (!tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 4, msg.velocity_covariance_len);
chunk_cb(buffer, 4, ctx);
}
for (int i = 0; i < msg.velocity_covariance_len; i++)
{
memset(buffer, 0, 8);
{
uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.velocity_covariance[i]);
canardEncodeScalar(buffer, 0, 16, float16_val);
}
chunk_cb(buffer, 16, ctx);
}
}
/*
*
* static uavcan_message_descriptor_s uavcan_equipment_gnss_Fix_descriptor = {
* UAVCAN_EQUIPMENT_GNSS_FIX_DT_SIG,
* UAVCAN_EQUIPMENT_GNSS_FIX_DT_ID,
* CanardTransferTypeBroadcast,
* sizeof(uavcan_equipment_gnss_Fix),
* UAVCAN_EQUIPMENT_GNSS_FIX_MAX_PACK_SIZE,
* encode_func,
* decode_func,
* null
* };
*/
static void encode_uavcan_equipment_gnss_Fix(uavcan_equipment_gnss_Fix msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_equipment_gnss_Fix(buffer, msg, chunk_cb, ctx, true);
}
static void _decode_uavcan_equipment_gnss_Fix(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_equipment_gnss_Fix msg, bool tao)
{
_decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false);
_decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.gnss_timestamp, false);
canardDecodeScalar(transfer, bit_ofs, 3, false, ref msg.gnss_time_standard);
bit_ofs += 3;
bit_ofs += 5;
canardDecodeScalar(transfer, bit_ofs, 8, false, ref msg.num_leap_seconds);
bit_ofs += 8;
canardDecodeScalar(transfer, bit_ofs, 37, true, ref msg.longitude_deg_1e8);
bit_ofs += 37;
canardDecodeScalar(transfer, bit_ofs, 37, true, ref msg.latitude_deg_1e8);
bit_ofs += 37;
canardDecodeScalar(transfer, bit_ofs, 27, true, ref msg.height_ellipsoid_mm);
bit_ofs += 27;
canardDecodeScalar(transfer, bit_ofs, 27, true, ref msg.height_msl_mm);
bit_ofs += 27;
/*['__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.ned_velocity[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.sats_used);
bit_ofs += 6;
canardDecodeScalar(transfer, bit_ofs, 2, false, ref msg.status);
bit_ofs += 2;
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.pdop = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
bit_ofs += 4;
canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.position_covariance_len);
bit_ofs += 4;
for (int i = 0; i < msg.position_covariance_len; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.position_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
if (!tao)
{
canardDecodeScalar(transfer, bit_ofs, 4, false, ref msg.velocity_covariance_len);
bit_ofs += 4;
}
else
{
msg.velocity_covariance_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 16);
}
for (int i = 0; i < msg.velocity_covariance_len; i++)
{
{
uint16_t float16_val = 0;
canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
msg.velocity_covariance[i] = canardConvertFloat16ToNativeFloat(float16_val);
}
bit_ofs += 16;
}
}