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107 lines
4.2 KiB
107 lines
4.2 KiB
4 years ago
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/*
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* UAVCAN data structure definition for libcanard.
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*
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* Autogenerated, do not edit.
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*
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* Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk\dsdl_compiler\pyuavcan\uavcan\dsdl_files\uavcan\equipment\range_sensor\1050.Measurement.uavcan
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*/
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#ifndef __UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT
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#define __UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT
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#include <stdint.h>
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#include "canard.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "node_coarse_orientation.h"
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#include "node_timestamp.h"
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/******************************* Source text **********************************
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#
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# Generic narrow-beam range sensor data.
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#
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uavcan.Timestamp timestamp
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uint8 sensor_id
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uavcan.CoarseOrientation beam_orientation_in_body_frame
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float16 field_of_view # Radians
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uint5 SENSOR_TYPE_UNDEFINED = 0
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uint5 SENSOR_TYPE_SONAR = 1
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uint5 SENSOR_TYPE_LIDAR = 2
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uint5 SENSOR_TYPE_RADAR = 3
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uint5 sensor_type
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uint3 READING_TYPE_UNDEFINED = 0 # Range is unknown
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uint3 READING_TYPE_VALID_RANGE = 1 # Range field contains valid distance
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uint3 READING_TYPE_TOO_CLOSE = 2 # Range field contains min range for the sensor
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uint3 READING_TYPE_TOO_FAR = 3 # Range field contains max range for the sensor
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uint3 reading_type
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float16 range # Meters
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******************************************************************************/
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/********************* DSDL signature source definition ***********************
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uavcan.equipment.range_sensor.Measurement
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uavcan.Timestamp timestamp
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saturated uint8 sensor_id
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uavcan.CoarseOrientation beam_orientation_in_body_frame
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saturated float16 field_of_view
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saturated uint5 sensor_type
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saturated uint3 reading_type
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saturated float16 range
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******************************************************************************/
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID 1050
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_NAME "uavcan.equipment.range_sensor.Measurement"
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE (0x68FFFE70FC771952ULL)
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE ((120 + 7)/8)
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// Constants
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_UNDEFINED 0 // 0
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_SONAR 1 // 1
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_LIDAR 2 // 2
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_RADAR 3 // 3
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_UNDEFINED 0 // 0
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_VALID_RANGE 1 // 1
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_CLOSE 2 // 2
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#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_FAR 3 // 3
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typedef struct
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{
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// FieldTypes
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uavcan_timestamp_t timestamp; //uavcan_Timestamp
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float field_of_view; // float16 Saturate
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float range; // float16 Saturate //
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uint8_t sensor_id; // bit len 8
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uint8_t sensor_type; // bit len 5
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uint8_t reading_type;
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uavcan_coarse_orientation_t beam_orientation_in_body_frame; //uavcan_CoarseOrientation
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// bit len 3
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} uavcan_measurement_t; //uavcan_equipment_range_sensor_Measurement
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extern
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uint32_t uavcan_equipment_range_sensor_Measurement_encode(uavcan_measurement_t* source, void* msg_buf);
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extern
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int32_t uavcan_equipment_range_sensor_Measurement_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_measurement_t* dest, uint8_t** dyn_arr_buf);
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extern
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uint32_t uavcan_equipment_range_sensor_Measurement_encode_internal(uavcan_measurement_t* source, void* msg_buf, uint32_t offset, uint8_t root_item);
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extern
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int32_t uavcan_equipment_range_sensor_Measurement_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_measurement_t* dest, uint8_t** dyn_arr_buf, int32_t offset);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif // __UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT
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