/*
 * UAVCAN data structure definition for libcanard.
 *
 * Autogenerated, do not edit.
 *
 * Source file: D:\data\libcanard-master\dsdl_compiler\dsdl_define\uavcan\equipment\actuator\1999.ArrayStatus.uavcan
 */

#ifndef __UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS
#define __UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS

#include <stdint.h>
#include "canard.h"

#ifdef __cplusplus
extern "C"
{
#endif

#include <uavcan\equipment\actuator\Statusinfo.h>

/******************************* Source text **********************************
#
# Actuator status.
# The system supports up to 6 actuators; up to 6 of them can be recriveded with one message.
#

Statusinfo[<=6] status
******************************************************************************/

/********************* DSDL signature source definition ***********************
uavcan.equipment.actuator.ArrayStatus
uavcan.equipment.actuator.Statusinfo[<=6] status
******************************************************************************/

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS_ID           1999
#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS_NAME         "uavcan.equipment.actuator.ArrayStatus"
#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS_SIGNATURE    (0xB4274B775EE28B6FULL)

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS_MAX_SIZE     ((387 + 7)/8)

// Constants

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS_STATUS_MAX_LENGTH                          6

typedef struct
{
    // FieldTypes
    struct
    {
        uint8_t    len;                       // Dynamic array length
        uavcan_equipment_actuator_Statusinfo* data;                      // Dynamic Array 64bit[6] max items
    } status;

} uavcan_equipment_actuator_ArrayStatus;

static inline
uint32_t uavcan_equipment_actuator_ArrayStatus_encode(uavcan_equipment_actuator_ArrayStatus* source, void* msg_buf, bool tao_enabled);

static inline
int32_t uavcan_equipment_actuator_ArrayStatus_decode(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_equipment_actuator_ArrayStatus* dest, uint8_t** dyn_arr_buf, bool tao_enabled);

static inline
uint32_t uavcan_equipment_actuator_ArrayStatus_encode_internal(uavcan_equipment_actuator_ArrayStatus* source, void* msg_buf, uint32_t offset, uint8_t root_item, bool tao_enabled);

static inline
int32_t uavcan_equipment_actuator_ArrayStatus_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, uavcan_equipment_actuator_ArrayStatus* dest, uint8_t** dyn_arr_buf, int32_t offset, bool tao_enabled);


/*
 * UAVCAN data structure definition for libcanard.
 *
 * Autogenerated, do not edit.
 *
 * Source file: D:\data\libcanard-master\dsdl_compiler\dsdl_define\uavcan\equipment\actuator\1999.ArrayStatus.uavcan
 */

#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_equipment_actuator_ArrayStatus_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_equipment_actuator_ArrayStatus_encode_internal(uavcan_equipment_actuator_ArrayStatus* source,
  void* msg_buf,
  uint32_t offset,
  uint8_t CANARD_MAYBE_UNUSED(root_item),
  bool tao_enabled)
{
    uint32_t c = 0;

    // Dynamic Array (status)
    if (! root_item || ! tao_enabled)
    {
        // - Add array length
        canardEncodeScalar(msg_buf, offset, 3, (void*)&source->status.len);
        offset += 3;
    }

    // - Add array items
    for (c = 0; c < source->status.len; c++)
    {
        offset += uavcan_equipment_actuator_Statusinfo_encode_internal(&source->status.data[c], msg_buf, offset, 0, tao_enabled);
    }

    return offset;
}

/**
  * @brief uavcan_equipment_actuator_ArrayStatus_encode
  * @param source : Pointer to source data struct
  * @param msg_buf: Pointer to msg storage
  * @retval returns message length as bytes
  */
uint32_t uavcan_equipment_actuator_ArrayStatus_encode(uavcan_equipment_actuator_ArrayStatus* source, void* msg_buf, bool tao_enabled)
{
    uint32_t offset = 0;

    offset = uavcan_equipment_actuator_ArrayStatus_encode_internal(source, msg_buf, offset, 1, tao_enabled);

    return (offset + 7 ) / 8;
}

/**
  * @brief uavcan_equipment_actuator_ArrayStatus_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_equipment_actuator_ArrayStatus 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_equipment_actuator_ArrayStatus_decode_internal(
  const CanardRxTransfer* transfer,
  uint16_t CANARD_MAYBE_UNUSED(payload_len),
  uavcan_equipment_actuator_ArrayStatus* dest,
  uint8_t** CANARD_MAYBE_UNUSED(dyn_arr_buf),
  int32_t offset,
  bool tao_enabled)
{
    int32_t ret = 0;
    uint32_t c = 0;

    // Dynamic Array (status)
    //  - Last item in struct & Root item & (Array Size > 8 bit), tail array optimization
    if (payload_len && tao_enabled)
    {
        //  - Calculate Array length from MSG length
        dest->status.len = ((payload_len * 8) - offset ) / 64; // 64 bit array item size
    }
    else
    {
        // - Array length 3 bits
        ret = canardDecodeScalar(transfer,
                                 (uint32_t)offset,
                                 3,
                                 false,
                                 (void*)&dest->status.len); // 0
        if (ret != 3)
        {
            goto uavcan_equipment_actuator_ArrayStatus_error_exit;
        }
        offset += 3;
    }

    //  - Get Array
    if (dyn_arr_buf)
    {
        dest->status.data = (uavcan_equipment_actuator_Statusinfo*)*dyn_arr_buf;
    }

    for (c = 0; c < dest->status.len; c++)
    {
        offset += uavcan_equipment_actuator_Statusinfo_decode_internal(transfer,
                                                0,
                                                &dest->status.data[c],
                                                dyn_arr_buf,
                                                offset,
                                                tao_enabled);
    }
    return offset;

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

/**
  * @brief uavcan_equipment_actuator_ArrayStatus_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_equipment_actuator_ArrayStatus 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_equipment_actuator_ArrayStatus_decode(const CanardRxTransfer* transfer,
  uint16_t payload_len,
  uavcan_equipment_actuator_ArrayStatus* dest,
  uint8_t** dyn_arr_buf,
  bool tao_enabled)
{
    const int32_t offset = 0;
    int32_t ret = 0;

    // Clear the destination struct
    for (uint32_t c = 0; c < sizeof(uavcan_equipment_actuator_ArrayStatus); c++)
    {
        ((uint8_t*)dest)[c] = 0x00;
    }

    ret = uavcan_equipment_actuator_ArrayStatus_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset, tao_enabled);

    return ret;
}

#ifdef __cplusplus
} // extern "C"
#endif
#endif // __UAVCAN_EQUIPMENT_ACTUATOR_ARRAYSTATUS