text: // This is an AUTO-GENERATED UAVCAN DSDL data type implementation. Curious? See https://uavcan.org.
  // You shouldn't attempt to edit this file.
  //
  // Checking this file under version control is not recommended unless it is used as part of a high-SIL
  // safety-critical codebase. The typical usage scenario is to generate it as part of the build process.
  //
  // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
  // are named with an underscore at the end, like foo_bar_().
  //
  // Generator:     nunavut-0.5.1 (serialization was enabled)
  // Source file:   /home/alex/projects/107-systems/public_regulated_data_types/uavcan/node/Mode.1.0.uavcan
  // Generated at:  2020-11-11 05:20:33.776711 UTC
  // Is deprecated: no
  // Fixed port-ID: None
  // Full name:     uavcan.node.Mode
  // Version:       1.0
  
  #ifndef UAVCAN_NODE_MODE_1_0_INCLUDED_
  #define UAVCAN_NODE_MODE_1_0_INCLUDED_
  
  #include <nunavut/support/serialization.h>
  #include <stdint.h>
  #include <stdlib.h>
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  /// This type does not have a fixed port-ID. See https://forum.uavcan.org/t/choosing-message-and-service-ids/889
  #define uavcan_node_Mode_1_0_HAS_FIXED_PORT_ID_ false
  
  #define uavcan_node_Mode_1_0_FULL_NAME_             "uavcan.node.Mode"
  #define uavcan_node_Mode_1_0_FULL_NAME_AND_VERSION_ "uavcan.node.Mode.1.0"
  
  /// Extent is the minimum amount of memory required to hold any serialized representation of any compatible
  /// version of the data type; or, on other words, it is the the maximum possible size of received objects of this type.
  /// The size is specified in bytes (rather than bits) because by definition, extent is an integer number of bytes long.
  /// When allocating a deserialization (RX) buffer for this data type, it should be at least extent bytes large.
  /// When allocating a serialization (TX) buffer, it is safe to use the size of the largest serialized representation
  /// instead of the extent because it provides a tighter bound of the object size; it is safe because the concrete type
  /// is always known during serialization (unlike deserialization). If not sure, use extent everywhere.
  #define uavcan_node_Mode_1_0_EXTENT_BYTES_                    1UL
  #define uavcan_node_Mode_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_ 1UL
  static_assert(uavcan_node_Mode_1_0_EXTENT_BYTES_ >= uavcan_node_Mode_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
                "Internal constraint violation");
  
  /// saturated uint3 OPERATIONAL = 0
  #define uavcan_node_Mode_1_0_OPERATIONAL (0U)
  /// saturated uint3 INITIALIZATION = 1
  #define uavcan_node_Mode_1_0_INITIALIZATION (1U)
  /// saturated uint3 MAINTENANCE = 2
  #define uavcan_node_Mode_1_0_MAINTENANCE (2U)
  /// saturated uint3 SOFTWARE_UPDATE = 3
  #define uavcan_node_Mode_1_0_SOFTWARE_UPDATE (3U)
  
  typedef struct
  {
      /// saturated uint3 value
      uint8_t value;
  } uavcan_node_Mode_1_0;
  
  /// Serialize an instance into the provided buffer.
  /// The lifetime of the resulting serialized representation is independent of the original instance.
  /// This method may be slow for large objects (e.g., images, point clouds, radar samples), so in a later revision
  /// we may define a zero-copy alternative that keeps references to the original object where possible.
  ///
  /// @param obj      The object to serialize.
  ///
  /// @param buffer   The destination buffer. There are no alignment requirements.
  ///                 @see uavcan_node_Mode_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
  ///
  /// @param inout_buffer_size_bytes  When calling, this is a pointer to the size of the buffer in bytes.
  ///                                 Upon return this value will be updated with the size of the constructed serialized
  ///                                 representation (in bytes); this value is then to be passed over to the transport
  ///                                 layer. In case of error this value is undefined.
  ///
  /// @returns Negative on error, zero on success.
  static inline int8_t uavcan_node_Mode_1_0_serialize_(
      const uavcan_node_Mode_1_0* const obj, uint8_t* const buffer,  size_t* const inout_buffer_size_bytes)
  {
      if ((obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL))
      {
          return -NUNAVUT_ERROR_INVALID_ARGUMENT;
      }
  
      const size_t capacity_bytes = *inout_buffer_size_bytes;
      if ((8U * (size_t) capacity_bytes) < 8UL)
      {
          return -NUNAVUT_ERROR_SERIALIZATION_BUFFER_TOO_SMALL;
      }
      // Notice that fields that are not an integer number of bytes long may overrun the space allocated for them
      // in the serialization buffer up to the next byte boundary. This is by design and is guaranteed to be safe.
      size_t offset_bits = 0U;
  
      {   // saturated uint3 value
          NUNAVUT_ASSERT(offset_bits % 8U == 0U);
          NUNAVUT_ASSERT((offset_bits + 3ULL) <= (capacity_bytes * 8U));
          uint8_t _sat0_ = obj->value;
          if (_sat0_ > 7U)
          {
              _sat0_ = 7U;
          }
          buffer[offset_bits / 8U] = (uint8_t)(_sat0_);  // C std, 6.3.1.3 Signed and unsigned integers
          offset_bits += 3U;
      }
  
      if (offset_bits % 8U != 0U)  // Pad to 8 bits. TODO: Eliminate redundant padding checks.
      {
          const uint8_t _pad0_ = (uint8_t)(8U - offset_bits % 8U);
          NUNAVUT_ASSERT(_pad0_ > 0);
          const int8_t _err0_ = nunavutSetUxx(&buffer[0], capacity_bytes, offset_bits, 0U, _pad0_);  // Optimize?
          if (_err0_ < 0)
          {
              return _err0_;
          }
          offset_bits += _pad0_;
          NUNAVUT_ASSERT(offset_bits % 8U == 0U);
      }
      // It is assumed that we know the exact type of the serialized entity, hence we expect the size to match.
  
      NUNAVUT_ASSERT(offset_bits == 8ULL);
  
      NUNAVUT_ASSERT(offset_bits % 8U == 0U);
      *inout_buffer_size_bytes = (size_t) (offset_bits / 8U);
  
      return NUNAVUT_SUCCESS;
  }
  
  /// Deserialize an instance from the provided buffer.
  /// The lifetime of the resulting object is independent of the original buffer.
  /// This method may be slow for large objects (e.g., images, point clouds, radar samples), so in a later revision
  /// we may define a zero-copy alternative that keeps references to the original buffer where possible.
  ///
  /// @param obj      The object to update from the provided serialized representation.
  ///
  /// @param buffer   The source buffer containing the serialized representation. There are no alignment requirements.
  ///                 If the buffer is shorter or longer than expected, it will be implicitly zero-extended or truncated,
  ///                 respectively; see Specification for "implicit zero extension" and "implicit truncation" rules.
  ///
  /// @param inout_buffer_size_bytes  When calling, this is a pointer to the size of the supplied serialized
  ///                                 representation, in bytes. Upon return this value will be updated with the
  ///                                 size of the consumed fragment of the serialized representation (in bytes),
  ///                                 which may be smaller due to the implicit truncation rule, but it is guaranteed
  ///                                 to never exceed the original buffer size even if the implicit zero extension rule
  ///                                 was activated. In case of error this value is undefined.
  ///
  /// @returns Negative on error, zero on success.
  static inline int8_t uavcan_node_Mode_1_0_deserialize_(
      uavcan_node_Mode_1_0* const out_obj, const uint8_t* const buffer, size_t* const inout_buffer_size_bytes)
  {
      if ((out_obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL))
      {
          return -NUNAVUT_ERROR_INVALID_ARGUMENT;
      }
  
      const size_t capacity_bytes = *inout_buffer_size_bytes;
      const size_t capacity_bits = capacity_bytes * (size_t) 8U;
      size_t offset_bits = 0U;
  
      // saturated uint3 value
      NUNAVUT_ASSERT(offset_bits % 8U == 0U);
      if ((offset_bits + 3U) <= capacity_bits)
      {
          out_obj->value = buffer[offset_bits / 8U] & 7U;
      }
      else
      {
          out_obj->value = 0U;
      }
      offset_bits += 3U;
  
      offset_bits = (offset_bits + 7U) & ~(size_t) 7U;  // Align on 8 bits.
      NUNAVUT_ASSERT(offset_bits % 8U == 0U);
      *inout_buffer_size_bytes = (size_t) (nunavutChooseMin(offset_bits, capacity_bits) / 8U);
      NUNAVUT_ASSERT(capacity_bytes >= *inout_buffer_size_bytes);
  
      return NUNAVUT_SUCCESS;
  }
  
  /// Initialize an instance to default values. Does nothing if @param out_obj is NULL.
  /// This function intentionally leaves inactive elements uninitialized; for example, members of a variable-length
  /// array beyond its length are left uninitialized; aliased union memory that is not used by the first union field
  /// is left uninitialized, etc. If full zero-initialization is desired, just use memset(&obj, 0, sizeof(obj)).
  static inline void uavcan_node_Mode_1_0_initialize_(uavcan_node_Mode_1_0* const out_obj)
  {
      if (out_obj != NULL)
      {
          size_t size_bytes = 0;
          const uint8_t buf = 0;
          const int8_t err = uavcan_node_Mode_1_0_deserialize_(out_obj, &buf, &size_bytes);
          NUNAVUT_ASSERT(err >= 0);
          (void) err;
      }
  }
  
  #ifdef __cplusplus
  }
  #endif
  #endif // UAVCAN_NODE_MODE_1_0_INCLUDED_
  