text: /*
   * UAVCAN data structure definition for libuavcan.
   *
   * Autogenerated, do not edit.
   *
   * Source file: /home/lws/Firmware/src/drivers/uavcan/libuavcan/dsdl/uavcan/Timestamp.uavcan
   */
  
  #ifndef UAVCAN_TIMESTAMP_HPP_INCLUDED
  #define UAVCAN_TIMESTAMP_HPP_INCLUDED
  
  #include <uavcan/build_config.hpp>
  #include <uavcan/node/global_data_type_registry.hpp>
  #include <uavcan/marshal/types.hpp>
  
  /******************************* Source text **********************************
  #
  # Global timestamp in microseconds, 7 bytes.
  #
  # Use this data type for timestamp fields in messages, like follows:
  #   uavcan.Timestamp timestamp
  #
  
  uint56 UNKNOWN = 0
  truncated uint56 usec     # Microseconds
  ******************************************************************************/
  
  /********************* DSDL signature source definition ***********************
  uavcan.Timestamp
  truncated uint56 usec
  ******************************************************************************/
  
  #undef usec
  #undef UNKNOWN
  
  namespace uavcan
  {
  
  template <int _tmpl>
  struct UAVCAN_EXPORT Timestamp_
  {
      typedef const Timestamp_<_tmpl>& ParameterType;
      typedef Timestamp_<_tmpl>& ReferenceType;
  
      struct ConstantTypes
      {
          typedef ::uavcan::IntegerSpec< 56, ::uavcan::SignednessUnsigned, ::uavcan::CastModeSaturate > UNKNOWN;
      };
  
      struct FieldTypes
      {
          typedef ::uavcan::IntegerSpec< 56, ::uavcan::SignednessUnsigned, ::uavcan::CastModeTruncate > usec;
      };
  
      enum
      {
          MinBitLen
              = FieldTypes::usec::MinBitLen
      };
  
      enum
      {
          MaxBitLen
              = FieldTypes::usec::MaxBitLen
      };
  
      // Constants
      static const typename ::uavcan::StorageType< typename ConstantTypes::UNKNOWN >::Type UNKNOWN; // 0
  
      // Fields
      typename ::uavcan::StorageType< typename FieldTypes::usec >::Type usec;
  
      Timestamp_()
          : usec()
      {
          ::uavcan::StaticAssert<_tmpl == 0>::check();  // Usage check
  
  #if UAVCAN_DEBUG
          /*
           * Cross-checking MaxBitLen provided by the DSDL compiler.
           * This check shall never be performed in user code because MaxBitLen value
           * actually depends on the nested types, thus it is not invariant.
           */
          ::uavcan::StaticAssert<56 == MaxBitLen>::check();
  #endif
      }
  
      bool operator==(ParameterType rhs) const;
      bool operator!=(ParameterType rhs) const { return !operator==(rhs); }
  
      /**
       * This comparison is based on @ref uavcan::areClose(), which ensures proper comparison of
       * floating point fields at any depth.
       */
      bool isClose(ParameterType rhs) const;
  
      static int encode(ParameterType self, ::uavcan::ScalarCodec& codec,
                        ::uavcan::TailArrayOptimizationMode tao_mode = ::uavcan::TailArrayOptEnabled);
  
      static int decode(ReferenceType self, ::uavcan::ScalarCodec& codec,
                        ::uavcan::TailArrayOptimizationMode tao_mode = ::uavcan::TailArrayOptEnabled);
  
      /*
       * Static type info
       */
      enum { DataTypeKind = ::uavcan::DataTypeKindMessage };
      // This type has no default data type ID
  
      static const char* getDataTypeFullName()
      {
          return "uavcan.Timestamp";
      }
  
      static void extendDataTypeSignature(::uavcan::DataTypeSignature& signature)
      {
          signature.extend(getDataTypeSignature());
      }
  
      static ::uavcan::DataTypeSignature getDataTypeSignature();
  
  };
  
  /*
   * Out of line struct method definitions
   */
  
  template <int _tmpl>
  bool Timestamp_<_tmpl>::operator==(ParameterType rhs) const
  {
      return
          usec == rhs.usec;
  }
  
  template <int _tmpl>
  bool Timestamp_<_tmpl>::isClose(ParameterType rhs) const
  {
      return
          ::uavcan::areClose(usec, rhs.usec);
  }
  
  template <int _tmpl>
  int Timestamp_<_tmpl>::encode(ParameterType self, ::uavcan::ScalarCodec& codec,
      ::uavcan::TailArrayOptimizationMode tao_mode)
  {
      (void)self;
      (void)codec;
      (void)tao_mode;
      int res = 1;
      res = FieldTypes::usec::encode(self.usec, codec,  tao_mode);
      return res;
  }
  
  template <int _tmpl>
  int Timestamp_<_tmpl>::decode(ReferenceType self, ::uavcan::ScalarCodec& codec,
      ::uavcan::TailArrayOptimizationMode tao_mode)
  {
      (void)self;
      (void)codec;
      (void)tao_mode;
      int res = 1;
      res = FieldTypes::usec::decode(self.usec, codec,  tao_mode);
      return res;
  }
  
  /*
   * Out of line type method definitions
   */
  template <int _tmpl>
  ::uavcan::DataTypeSignature Timestamp_<_tmpl>::getDataTypeSignature()
  {
      ::uavcan::DataTypeSignature signature(0x5BD0B5C81087E0DULL);
  
      FieldTypes::usec::extendDataTypeSignature(signature);
  
      return signature;
  }
  
  /*
   * Out of line constant definitions
   */
  
  template <int _tmpl>
  const typename ::uavcan::StorageType< typename Timestamp_<_tmpl>::ConstantTypes::UNKNOWN >::Type
      Timestamp_<_tmpl>::UNKNOWN = 0U; // 0
  
  /*
   * Final typedef
   */
  typedef Timestamp_<0> Timestamp;
  
  // No default registration
  
  } // Namespace uavcan
  
  /*
   * YAML streamer specialization
   */
  namespace uavcan
  {
  
  template <>
  class UAVCAN_EXPORT YamlStreamer< ::uavcan::Timestamp >
  {
  public:
      template <typename Stream>
      static void stream(Stream& s, ::uavcan::Timestamp::ParameterType obj, const int level);
  };
  
  template <typename Stream>
  void YamlStreamer< ::uavcan::Timestamp >::stream(Stream& s, ::uavcan::Timestamp::ParameterType obj, const int level)
  {
      (void)s;
      (void)obj;
      (void)level;
      if (level > 0)
      {
          s << '\n';
          for (int pos = 0; pos < level; pos++)
          {
              s << "  ";
          }
      }
      s << "usec: ";
      YamlStreamer< ::uavcan::Timestamp::FieldTypes::usec >::stream(s, obj.usec, level + 1);
  }
  
  }
  
  namespace uavcan
  {
  
  template <typename Stream>
  inline Stream& operator<<(Stream& s, ::uavcan::Timestamp::ParameterType obj)
  {
      ::uavcan::YamlStreamer< ::uavcan::Timestamp >::stream(s, obj, 0);
      return s;
  }
  
  } // Namespace uavcan
  
  #endif // UAVCAN_TIMESTAMP_HPP_INCLUDED