proximity_uavcan_converter/UAVCAN/node_timestamp.c

/*
 * UAVCAN data structure definition for libcanard.
 *
 * Autogenerated, do not edit.
 *
 * Source file: E:\000_MyProjects\UAVCAN\libcanard_zrzk\dsdl_compiler\pyuavcan\uavcan\dsdl_files\uavcan\Timestamp.uavcan
 */
#include "node_timestamp.h"
#include "canard.h"

#ifndef CANARD_INTERNAL_SATURATE
#define CANARD_INTERNAL_SATURATE(x, max) (((x) > max) ? max : ((-(x) > max) ? (-max) : (x)));
#endif

#ifndef CANARD_INTERNAL_SATURATE_UNSIGNED
#define CANARD_INTERNAL_SATURATE_UNSIGNED(x, max) (((x) >= max) ? max : (x));
#endif

#if defined(__GNUC__)
#define CANARD_MAYBE_UNUSED(x) x __attribute__((unused))
#else
#define CANARD_MAYBE_UNUSED(x) x
#endif

/**
  * @brief uavcan_Timestamp_encode_internal
  * @param source : pointer to source data struct
  * @param msg_buf: pointer to msg storage
  * @param offset: bit offset to msg storage
  * @param root_item: for detecting if TAO should be used
  * @retval returns offset
  */
uint32_t uavcan_Timestamp_encode_internal(uavcan_timestamp_t *source,
                                          void *msg_buf,
                                          uint32_t offset,
                                          uint8_t CANARD_MAYBE_UNUSED(root_item))
{
    canardEncodeScalar(msg_buf, offset, 56, (void *)&source->usec); // 72057594037927935
    offset += 56;
    return offset;
}

/**
  * @brief uavcan_Timestamp_encode
  * @param source : Pointer to source data struct
  * @param msg_buf: Pointer to msg storage
  * @retval returns message length as bytes
  */
uint32_t uavcan_Timestamp_encode(uavcan_timestamp_t *source, void *msg_buf)
{
    uint32_t offset = 0;
    offset = uavcan_Timestamp_encode_internal(source, msg_buf, offset, 1);
    return (offset + 7) / 8;
}

/**
  * @brief uavcan_Timestamp_decode_internal
  * @param transfer: Pointer to CanardRxTransfer transfer
  * @param payload_len: Payload message length
  * @param dest: Pointer to destination struct
  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
  *                     uavcan_timestamp_t dyn memory will point to dyn_arr_buf memory.
  *                     NULL will ignore dynamic arrays decoding.
  * @param offset: Call with 0, bit offset to msg storage
  * @retval offset or ERROR value if < 0
  */
int32_t uavcan_Timestamp_decode_internal(
    const CanardRxTransfer *transfer,
    uint16_t CANARD_MAYBE_UNUSED(payload_len),
    uavcan_timestamp_t *dest,
    uint8_t **CANARD_MAYBE_UNUSED(dyn_arr_buf),
    int32_t offset)
{
    int32_t ret = 0;

    ret = canardDecodeScalar(transfer, (uint32_t)offset, 56, false, (void *)&dest->usec);
    if (ret != 56)
    {
        goto uavcan_Timestamp_error_exit;
    }
    offset += 56;
    return offset;

uavcan_Timestamp_error_exit:
    if (ret < 0)
    {
        return ret;
    }
    else
    {
        return -CANARD_ERROR_INTERNAL;
    }
}

/**
  * @brief uavcan_Timestamp_decode
  * @param transfer: Pointer to CanardRxTransfer transfer
  * @param payload_len: Payload message length
  * @param dest: Pointer to destination struct
  * @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
  *                     uavcan_timestamp_t dyn memory will point to dyn_arr_buf memory.
  *                     NULL will ignore dynamic arrays decoding.
  * @retval offset or ERROR value if < 0
  */
int32_t uavcan_Timestamp_decode(const CanardRxTransfer *transfer,
                                uint16_t payload_len,
                                uavcan_timestamp_t *dest,
                                uint8_t **dyn_arr_buf)
{
    const int32_t offset = 0;
    int32_t ret = 0;
    // Clear the destination struct
    for (uint32_t c = 0; c < sizeof(uavcan_timestamp_t); c++)
    {
        ((uint8_t *)dest)[c] = 0x00;
    }
    ret = uavcan_Timestamp_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset);
    return ret;
}