#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <canard.h>


#define VK_RADAR_RADAR_VEHICLESTATE_MAX_SIZE 35
#define VK_RADAR_RADAR_VEHICLESTATE_SIGNATURE (0xA42468B97604FCBCULL)
#define VK_RADAR_RADAR_VEHICLESTATE_ID 24000

#define VK_RADAR_RADAR_VEHICLESTATE_FLIGHT_STATE_GROUND 0
#define VK_RADAR_RADAR_VEHICLESTATE_FLIGHT_STATE_ARMED 1
#define VK_RADAR_RADAR_VEHICLESTATE_FLIGHT_STATE_FLYING 2
#define VK_RADAR_RADAR_VEHICLESTATE_FLIGHT_STATE_LANDING 3

#if defined(__cplusplus) && defined(DRONECAN_CXX_WRAPPERS)
class vk_radar_radar_VehicleState_cxx_iface;
#endif

struct vk_radar_radar_VehicleState {
#if defined(__cplusplus) && defined(DRONECAN_CXX_WRAPPERS)
    using cxx_iface = vk_radar_radar_VehicleState_cxx_iface;
#endif
    uint32_t time_boot_ms;
    float q_enu_wxyz[4];
    float p_enu_m[3];
    uint16_t terrain_height_cm;
    uint8_t flight_state;
    uint8_t flags;
};

#ifdef __cplusplus
extern "C"
{
#endif

uint32_t _vk_radar_radar_VehicleState_encode(struct vk_radar_radar_VehicleState* msg, uint8_t* buffer
#if CANARD_ENABLE_TAO_OPTION
    , bool tao
#endif
);
bool _vk_radar_radar_VehicleState_decode(const CanardRxTransfer* transfer, struct vk_radar_radar_VehicleState* msg);

static inline uint32_t vk_radar_radar_VehicleState_encode(struct vk_radar_radar_VehicleState* msg, uint8_t* buffer
#if CANARD_ENABLE_TAO_OPTION
    , bool tao
#endif
) {

    return _vk_radar_radar_VehicleState_encode(msg, buffer
#if CANARD_ENABLE_TAO_OPTION
    , tao
#endif
    );

}

static inline bool vk_radar_radar_VehicleState_decode(const CanardRxTransfer* transfer, struct vk_radar_radar_VehicleState* msg) {

    return _vk_radar_radar_VehicleState_decode(transfer, msg);

}

#if defined(CANARD_DSDLC_INTERNAL)
static inline void __vk_radar_radar_VehicleState_encode(uint8_t* buffer, uint32_t* bit_ofs, struct vk_radar_radar_VehicleState* msg, bool tao);
static inline bool __vk_radar_radar_VehicleState_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct vk_radar_radar_VehicleState* msg, bool tao);
void __vk_radar_radar_VehicleState_encode(uint8_t* buffer, uint32_t* bit_ofs, struct vk_radar_radar_VehicleState* msg, bool tao) {
    (void)buffer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;

    canardEncodeScalar(buffer, *bit_ofs, 32, &msg->time_boot_ms);
    *bit_ofs += 32;
    for (size_t i=0; i < 4; i++) {
        canardEncodeScalar(buffer, *bit_ofs, 32, &msg->q_enu_wxyz[i]);
        *bit_ofs += 32;
    }
    for (size_t i=0; i < 3; i++) {
        canardEncodeScalar(buffer, *bit_ofs, 32, &msg->p_enu_m[i]);
        *bit_ofs += 32;
    }
    canardEncodeScalar(buffer, *bit_ofs, 16, &msg->terrain_height_cm);
    *bit_ofs += 16;
    canardEncodeScalar(buffer, *bit_ofs, 3, &msg->flight_state);
    *bit_ofs += 3;
    canardEncodeScalar(buffer, *bit_ofs, 5, &msg->flags);
    *bit_ofs += 5;
}

/*
 decode vk_radar_radar_VehicleState, return true on failure, false on success
*/
bool __vk_radar_radar_VehicleState_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct vk_radar_radar_VehicleState* msg, bool tao) {
    (void)transfer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;
    canardDecodeScalar(transfer, *bit_ofs, 32, false, &msg->time_boot_ms);
    *bit_ofs += 32;

    for (size_t i=0; i < 4; i++) {
        canardDecodeScalar(transfer, *bit_ofs, 32, true, &msg->q_enu_wxyz[i]);
        *bit_ofs += 32;
    }

    for (size_t i=0; i < 3; i++) {
        canardDecodeScalar(transfer, *bit_ofs, 32, true, &msg->p_enu_m[i]);
        *bit_ofs += 32;
    }

    canardDecodeScalar(transfer, *bit_ofs, 16, false, &msg->terrain_height_cm);
    *bit_ofs += 16;

    canardDecodeScalar(transfer, *bit_ofs, 3, false, &msg->flight_state);
    *bit_ofs += 3;

    canardDecodeScalar(transfer, *bit_ofs, 5, false, &msg->flags);
    *bit_ofs += 5;

    return false; /* success */
}
#endif
#ifdef CANARD_DSDLC_TEST_BUILD
struct vk_radar_radar_VehicleState sample_vk_radar_radar_VehicleState_msg(void);
#endif
#ifdef __cplusplus
} // extern "C"

#ifdef DRONECAN_CXX_WRAPPERS
#include <canard/cxx_wrappers.h>
BROADCAST_MESSAGE_CXX_IFACE(vk_radar_radar_VehicleState, VK_RADAR_RADAR_VEHICLESTATE_ID, VK_RADAR_RADAR_VEHICLESTATE_SIGNATURE, VK_RADAR_RADAR_VEHICLESTATE_MAX_SIZE);
#endif
#endif