public static uavcan_protocol_dynamic_node_id_Allocation ByteArrayToDroneCANMsg(byte[] transfer, int startoffset)
{
var ans = new uavcan_protocol_dynamic_node_id_Allocation();
ans.decode(new DroneCAN.CanardRxTransfer(transfer.Skip(startoffset).ToArray()));
return(ans);
}
static void _decode_uavcan_protocol_dynamic_node_id_Allocation(CanardRxTransfer transfer, ref uint32_t bit_ofs, uavcan_protocol_dynamic_node_id_Allocation msg, bool tao)
{
canardDecodeScalar(transfer, bit_ofs, 7, false, ref msg.node_id);
bit_ofs += 7;
canardDecodeScalar(transfer, bit_ofs, 1, false, ref msg.first_part_of_unique_id);
bit_ofs += 1;
if (!tao)
{
canardDecodeScalar(transfer, bit_ofs, 5, false, ref msg.unique_id_len);
bit_ofs += 5;
}
else
{
msg.unique_id_len = (uint8_t)(((transfer.payload_len * 8) - bit_ofs) / 8);
}
for (int i = 0; i < msg.unique_id_len; i++)
{
canardDecodeScalar(transfer, bit_ofs, 8, false, ref msg.unique_id[i]);
bit_ofs += 8;
}
}
static void _encode_uavcan_protocol_dynamic_node_id_Allocation(uint8_t[] buffer, uavcan_protocol_dynamic_node_id_Allocation msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 7, msg.node_id);
chunk_cb(buffer, 7, ctx);
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 1, msg.first_part_of_unique_id);
chunk_cb(buffer, 1, ctx);
if (!tao)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 5, msg.unique_id_len);
chunk_cb(buffer, 5, ctx);
}
for (int i = 0; i < msg.unique_id_len; i++)
{
memset(buffer, 0, 8);
canardEncodeScalar(buffer, 0, 8, msg.unique_id[i]);
chunk_cb(buffer, 8, ctx);
}
}
static uint32_t decode_uavcan_protocol_dynamic_node_id_Allocation(CanardRxTransfer transfer, uavcan_protocol_dynamic_node_id_Allocation msg)
{
uint32_t bit_ofs = 0;
_decode_uavcan_protocol_dynamic_node_id_Allocation(transfer, ref bit_ofs, msg, true);
return((bit_ofs + 7) / 8);
}
/*
*
* static uavcan_message_descriptor_s uavcan_protocol_dynamic_node_id_Allocation_descriptor = {
* UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_DT_SIG,
* UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_DT_ID,
* CanardTransferTypeBroadcast,
* sizeof(uavcan_protocol_dynamic_node_id_Allocation),
* UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_PACK_SIZE,
* encode_func,
* decode_func,
* null
* };
*/
static void encode_uavcan_protocol_dynamic_node_id_Allocation(uavcan_protocol_dynamic_node_id_Allocation msg, uavcan_serializer_chunk_cb_ptr_t chunk_cb, object ctx)
{
uint8_t[] buffer = new uint8_t[8];
_encode_uavcan_protocol_dynamic_node_id_Allocation(buffer, msg, chunk_cb, ctx, true);
}
