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


#define VK_RADAR_RADAR_RADAROBSTACLE_MAX_SIZE 6
#define VK_RADAR_RADAR_RADAROBSTACLE_SIGNATURE (0x74F0B9D8D6BBA153ULL)
#define VK_RADAR_RADAR_RADAROBSTACLE_ID 24001

#define VK_RADAR_RADAR_RADAROBSTACLE_READING_NO_DATA 0
#define VK_RADAR_RADAR_RADAROBSTACLE_READING_GOOD 1
#define VK_RADAR_RADAR_RADAROBSTACLE_READING_TOO_CLOSE 2
#define VK_RADAR_RADAR_RADAROBSTACLE_READING_TOO_FAR 3

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

struct vk_radar_radar_RadarObstacle {
#if defined(__cplusplus) && defined(DRONECAN_CXX_WRAPPERS)
    using cxx_iface = vk_radar_radar_RadarObstacle_cxx_iface;
#endif
    uint8_t sensor_id;
    uint8_t reading_type;
    uint8_t quality;
    uint16_t distance_cm;
    int16_t obstacle_height_cm;
};

#ifdef __cplusplus
extern "C"
{
#endif

uint32_t _vk_radar_radar_RadarObstacle_encode(struct vk_radar_radar_RadarObstacle* msg, uint8_t* buffer
#if CANARD_ENABLE_TAO_OPTION
    , bool tao
#endif
);
bool _vk_radar_radar_RadarObstacle_decode(const CanardRxTransfer* transfer, struct vk_radar_radar_RadarObstacle* msg);

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

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

}

static inline bool vk_radar_radar_RadarObstacle_decode(const CanardRxTransfer* transfer, struct vk_radar_radar_RadarObstacle* msg) {

    return _vk_radar_radar_RadarObstacle_decode(transfer, msg);

}

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

    canardEncodeScalar(buffer, *bit_ofs, 8, &msg->sensor_id);
    *bit_ofs += 8;
    canardEncodeScalar(buffer, *bit_ofs, 2, &msg->reading_type);
    *bit_ofs += 2;
    canardEncodeScalar(buffer, *bit_ofs, 6, &msg->quality);
    *bit_ofs += 6;
    canardEncodeScalar(buffer, *bit_ofs, 16, &msg->distance_cm);
    *bit_ofs += 16;
    canardEncodeScalar(buffer, *bit_ofs, 16, &msg->obstacle_height_cm);
    *bit_ofs += 16;
}

/*
 decode vk_radar_radar_RadarObstacle, return true on failure, false on success
*/
bool __vk_radar_radar_RadarObstacle_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct vk_radar_radar_RadarObstacle* msg, bool tao) {
    (void)transfer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;
    canardDecodeScalar(transfer, *bit_ofs, 8, false, &msg->sensor_id);
    *bit_ofs += 8;

    canardDecodeScalar(transfer, *bit_ofs, 2, false, &msg->reading_type);
    *bit_ofs += 2;

    canardDecodeScalar(transfer, *bit_ofs, 6, false, &msg->quality);
    *bit_ofs += 6;

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

    canardDecodeScalar(transfer, *bit_ofs, 16, true, &msg->obstacle_height_cm);
    *bit_ofs += 16;

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

#ifdef DRONECAN_CXX_WRAPPERS
#include <canard/cxx_wrappers.h>
BROADCAST_MESSAGE_CXX_IFACE(vk_radar_radar_RadarObstacle, VK_RADAR_RADAR_RADAROBSTACLE_ID, VK_RADAR_RADAR_RADAROBSTACLE_SIGNATURE, VK_RADAR_RADAR_RADAROBSTACLE_MAX_SIZE);
#endif
#endif