
using uint8_t = System.Byte;
using uint16_t = System.UInt16;
using uint32_t = System.UInt32;
using uint64_t = System.UInt64;

using int8_t = System.SByte;
using int16_t = System.Int16;
using int32_t = System.Int32;
using int64_t = System.Int64;

using float32 = System.Single;

using System;
using System.Linq;
using System.Runtime.InteropServices;
using System.Collections.Generic;

namespace DroneCAN
{
    public partial class DroneCAN {
        static void encode_uavcan_equipment_ahrs_RawIMU(uavcan_equipment_ahrs_RawIMU msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool fdcan) {
            uint8_t[] buffer = new uint8_t[8];
            _encode_uavcan_equipment_ahrs_RawIMU(buffer, msg, chunk_cb, ctx, !fdcan);
        }

        static uint32_t decode_uavcan_equipment_ahrs_RawIMU(CanardRxTransfer transfer, uavcan_equipment_ahrs_RawIMU msg, bool fdcan) {
            uint32_t bit_ofs = 0;
            _decode_uavcan_equipment_ahrs_RawIMU(transfer, ref bit_ofs, msg, !fdcan);
            return (bit_ofs+7)/8;
        }

        static void _encode_uavcan_equipment_ahrs_RawIMU(uint8_t[] buffer, uavcan_equipment_ahrs_RawIMU msg, dronecan_serializer_chunk_cb_ptr_t chunk_cb, object ctx, bool tao) {
            _encode_uavcan_Timestamp(buffer, msg.timestamp, chunk_cb, ctx, false);
            memset(buffer,0,8);
            canardEncodeScalar(buffer, 0, 32, msg.integration_interval);
            chunk_cb(buffer, 32, ctx);
            for (int i=0; i < 3; i++) {
                    memset(buffer,0,8);
                    {
                        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.rate_gyro_latest[i]);
                        canardEncodeScalar(buffer, 0, 16, float16_val);
                    }
                    chunk_cb(buffer, 16, ctx);
            }
            for (int i=0; i < 3; i++) {
                    memset(buffer,0,8);
                    canardEncodeScalar(buffer, 0, 32, msg.rate_gyro_integral[i]);
                    chunk_cb(buffer, 32, ctx);
            }
            for (int i=0; i < 3; i++) {
                    memset(buffer,0,8);
                    {
                        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.accelerometer_latest[i]);
                        canardEncodeScalar(buffer, 0, 16, float16_val);
                    }
                    chunk_cb(buffer, 16, ctx);
            }
            for (int i=0; i < 3; i++) {
                    memset(buffer,0,8);
                    canardEncodeScalar(buffer, 0, 32, msg.accelerometer_integral[i]);
                    chunk_cb(buffer, 32, ctx);
            }
            if (!tao) {
                memset(buffer,0,8);
                canardEncodeScalar(buffer, 0, 6, msg.covariance_len);
                chunk_cb(buffer, 6, ctx);
            }
            for (int i=0; i < msg.covariance_len; i++) {
                    memset(buffer,0,8);
                    {
                        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg.covariance[i]);
                        canardEncodeScalar(buffer, 0, 16, float16_val);
                    }
                    chunk_cb(buffer, 16, ctx);
            }
        }

        static void _decode_uavcan_equipment_ahrs_RawIMU(CanardRxTransfer transfer,ref uint32_t bit_ofs, uavcan_equipment_ahrs_RawIMU msg, bool tao) {

            _decode_uavcan_Timestamp(transfer, ref bit_ofs, msg.timestamp, false);

            canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.integration_interval);
            bit_ofs += 32;

            for (int i=0; i < 3; i++) {
                {
                    uint16_t float16_val = 0;
                    canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
                    msg.rate_gyro_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
                }
                bit_ofs += 16;
            }

            for (int i=0; i < 3; i++) {
                canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.rate_gyro_integral[i]);
                bit_ofs += 32;
            }

            for (int i=0; i < 3; i++) {
                {
                    uint16_t float16_val = 0;
                    canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
                    msg.accelerometer_latest[i] = canardConvertFloat16ToNativeFloat(float16_val);
                }
                bit_ofs += 16;
            }

            for (int i=0; i < 3; i++) {
                canardDecodeScalar(transfer, bit_ofs, 32, true, ref msg.accelerometer_integral[i]);
                bit_ofs += 32;
            }

            if (!tao) {
                canardDecodeScalar(transfer, bit_ofs, 6, false, ref msg.covariance_len);
                bit_ofs += 6;
            } else {
                msg.covariance_len = (uint8_t)(((transfer.payload_len*8)-bit_ofs)/16);
            }

            msg.covariance = new Single[msg.covariance_len];
            for (int i=0; i < msg.covariance_len; i++) {
                {
                    uint16_t float16_val = 0;
                    canardDecodeScalar(transfer, bit_ofs, 16, true, ref float16_val);
                    msg.covariance[i] = canardConvertFloat16ToNativeFloat(float16_val);
                }
                bit_ofs += 16;
            }

        }
    }
}