cn.wsyjlly.mavlink.common.v1.messages.NavControllerOutput Maven / Gradle / Ivy

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package cn.wsyjlly.mavlink.common.v1.messages;

import cn.wsyjlly.mavlink.annotation.MavlinkMessage;
import cn.wsyjlly.mavlink.annotation.MavlinkMessageParam;
import cn.wsyjlly.mavlink.common.Message;
import cn.wsyjlly.mavlink.protocol.ByteArray;
import cn.wsyjlly.mavlink.protocol.util.ByteModel;

import java.util.Objects;
/**********************************
 * Author YSW
 * Description
 * Date 2020.11.26 - 02:45
 **********************************/

@MavlinkMessage(
		id = 62,
		messagePayloadLength = 26,
		description = "Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters."
)
public class NavControllerOutput implements Message {
	@MavlinkMessageParam(mavlinkType = "float", position = 1, typeSize = 4, streamLength = 4, description = "Current desired roll in degrees")
	private float navRoll;

	@MavlinkMessageParam(mavlinkType = "float", position = 2, typeSize = 4, streamLength = 4, description = "Current desired pitch in degrees")
	private float navPitch;

	@MavlinkMessageParam(mavlinkType = "int16_t", position = 3, typeSize = 2, streamLength = 2, description = "Current desired heading in degrees")
	private short navBearing;

	@MavlinkMessageParam(mavlinkType = "int16_t", position = 4, typeSize = 2, streamLength = 2, description = "Bearing to current MISSION/target in degrees")
	private short targetBearing;

	@MavlinkMessageParam(mavlinkType = "uint16_t", position = 5, typeSize = 2, streamLength = 2, description = "Distance to active MISSION in meters")
	private int wpDist;

	@MavlinkMessageParam(mavlinkType = "float", position = 6, typeSize = 4, streamLength = 4, description = "Current altitude error in meters")
	private float altError;

	@MavlinkMessageParam(mavlinkType = "float", position = 7, typeSize = 4, streamLength = 4, description = "Current airspeed error in meters/second")
	private float aspdError;

	@MavlinkMessageParam(mavlinkType = "float", position = 8, typeSize = 4, streamLength = 4, description = "Current crosstrack error on x-y plane in meters")
	private float xtrackError;

	private final int messagePayloadLength = 26;

	private byte[] messagePayload = new byte[messagePayloadLength];

	public NavControllerOutput(float navRoll, float navPitch, short navBearing, short targetBearing, int wpDist, float altError, float aspdError, float xtrackError) {
		this.navRoll = navRoll;
		this.navPitch = navPitch;
		this.navBearing = navBearing;
		this.targetBearing = targetBearing;
		this.wpDist = wpDist;
		this.altError = altError;
		this.aspdError = aspdError;
		this.xtrackError = xtrackError;
	}

	public NavControllerOutput(byte[] messagePayload) {
		if (messagePayload.length != messagePayloadLength){
			throw new IllegalArgumentException("Byte array length is not equal to 26！");
		}
		messagePayload(messagePayload);
	}

	public NavControllerOutput(){ }

	@Override
	public void messagePayload(byte[] messagePayload) {
		this.messagePayload = messagePayload;
		ByteArray byteArray = new ByteArray(messagePayload);
		navRoll = byteArray.getFloat(0);
		navPitch = byteArray.getFloat(4);
		navBearing = byteArray.getInt16(8);
		targetBearing = byteArray.getInt16(10);
		wpDist = byteArray.getUnsignedInt16(12);
		altError = byteArray.getFloat(14);
		aspdError = byteArray.getFloat(18);
		xtrackError = byteArray.getFloat(22);
	}

	@Override
	public byte[] messagePayload() {
		ByteArray byteArray = new ByteArray(messagePayload);
		byteArray.putFloat(navRoll,0);
		byteArray.putFloat(navPitch,4);
		byteArray.putInt16(navBearing,8);
		byteArray.putInt16(targetBearing,10);
		byteArray.putUnsignedInt16(wpDist,12);
		byteArray.putFloat(altError,14);
		byteArray.putFloat(aspdError,18);
		byteArray.putFloat(xtrackError,22);
		return messagePayload;
	}
	
	@Override
	public String hexStringPayload() {
		return ByteModel.bytes2HexString(messagePayload);
	}

	public final NavControllerOutput setNavRoll(float navRoll) {
		this.navRoll = navRoll;
		return this;
	}

	public final float getNavRoll() {
		return navRoll;
	}

	public final NavControllerOutput setNavPitch(float navPitch) {
		this.navPitch = navPitch;
		return this;
	}

	public final float getNavPitch() {
		return navPitch;
	}

	public final NavControllerOutput setNavBearing(short navBearing) {
		this.navBearing = navBearing;
		return this;
	}

	public final short getNavBearing() {
		return navBearing;
	}

	public final NavControllerOutput setTargetBearing(short targetBearing) {
		this.targetBearing = targetBearing;
		return this;
	}

	public final short getTargetBearing() {
		return targetBearing;
	}

	public final NavControllerOutput setWpDist(int wpDist) {
		this.wpDist = wpDist;
		return this;
	}

	public final int getWpDist() {
		return wpDist;
	}

	public final NavControllerOutput setAltError(float altError) {
		this.altError = altError;
		return this;
	}

	public final float getAltError() {
		return altError;
	}

	public final NavControllerOutput setAspdError(float aspdError) {
		this.aspdError = aspdError;
		return this;
	}

	public final float getAspdError() {
		return aspdError;
	}

	public final NavControllerOutput setXtrackError(float xtrackError) {
		this.xtrackError = xtrackError;
		return this;
	}

	public final float getXtrackError() {
		return xtrackError;
	}

	@Override
	public boolean equals(Object o) {
		if (this == o) {
			return true;
		} else if (o != null && this.getClass().equals(o.getClass())) {
			NavControllerOutput other = (NavControllerOutput)o;
			if (!Objects.deepEquals(this.navRoll, other.navRoll)) {
				return false;
			} else if (!Objects.deepEquals(this.navPitch, other.navPitch)) {
				return false;
			} else if (!Objects.deepEquals(this.navBearing, other.navBearing)) {
				return false;
			} else if (!Objects.deepEquals(this.targetBearing, other.targetBearing)) {
				return false;
			} else if (!Objects.deepEquals(this.wpDist, other.wpDist)) {
				return false;
			} else if (!Objects.deepEquals(this.altError, other.altError)) {
				return false;
			} else if (!Objects.deepEquals(this.aspdError, other.aspdError)) {
				return false;
			} else {
				return Objects.deepEquals(this.xtrackError, other.xtrackError);
			}
		} else {
			return false;
		}
	}

	@Override
	public int hashCode() {
		int result = 0;
		result = 31 * result + Objects.hashCode(this.navRoll);
		result = 31 * result + Objects.hashCode(this.navPitch);
		result = 31 * result + Objects.hashCode(this.navBearing);
		result = 31 * result + Objects.hashCode(this.targetBearing);
		result = 31 * result + Objects.hashCode(this.wpDist);
		result = 31 * result + Objects.hashCode(this.altError);
		result = 31 * result + Objects.hashCode(this.aspdError);
		result = 31 * result + Objects.hashCode(this.xtrackError);
		return result;
	}

	@Override
	public String toString() {
		return "NavControllerOutput{" +
				"navRoll=" + navRoll +
				", navPitch=" + navPitch +
				", navBearing=" + navBearing +
				", targetBearing=" + targetBearing +
				", wpDist=" + wpDist +
				", altError=" + altError +
				", aspdError=" + aspdError +
				", xtrackError=" + xtrackError +
				'}';
	}
}