cn.wsyjlly.mavlink.common.v1.messages.V2Extension 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;
import java.util.Arrays;
/**********************************
 * Author YSW
 * Description
 * Date 2020.11.26 - 02:45
 **********************************/

@MavlinkMessage(
		id = 248,
		messagePayloadLength = 254,
		description = "Message implementing parts of the V2 payload specs in V1 frames for transitional support."
)
public class V2Extension implements Message {
	@MavlinkMessageParam(mavlinkType = "uint8_t", position = 1, typeSize = 1, streamLength = 1, description = "Network ID (0 for broadcast)")
	private short targetNetwork;

	@MavlinkMessageParam(mavlinkType = "uint8_t", position = 2, typeSize = 1, streamLength = 1, description = "System ID (0 for broadcast)")
	private short targetSystem;

	@MavlinkMessageParam(mavlinkType = "uint8_t", position = 3, typeSize = 1, streamLength = 1, description = "Component ID (0 for broadcast)")
	private short targetComponent;

	@MavlinkMessageParam(mavlinkType = "uint16_t", position = 4, typeSize = 2, streamLength = 2, description = "A code that identifies the software component that understands this message (analogous to usb device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/extension-message-ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.")
	private int messageType;

	@MavlinkMessageParam(mavlinkType = "uint8_t", position = 5, typeSize = 1, streamLength = 249, description = "Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.")
	private short[] payload = new short[249];

	private final int messagePayloadLength = 254;

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

	public V2Extension(short targetNetwork, short targetSystem, short targetComponent, int messageType, short[] payload) {
		this.targetNetwork = targetNetwork;
		this.targetSystem = targetSystem;
		this.targetComponent = targetComponent;
		this.messageType = messageType;
		this.payload = payload;
	}

	public V2Extension(byte[] messagePayload) {
		if (messagePayload.length != messagePayloadLength){
			throw new IllegalArgumentException("Byte array length is not equal to 254！");
		}
		messagePayload(messagePayload);
	}

	public V2Extension(){ }

	@Override
	public void messagePayload(byte[] messagePayload) {
		this.messagePayload = messagePayload;
		ByteArray byteArray = new ByteArray(messagePayload);
		targetNetwork = byteArray.getUnsignedInt8(0);
		targetSystem = byteArray.getUnsignedInt8(1);
		targetComponent = byteArray.getUnsignedInt8(2);
		messageType = byteArray.getUnsignedInt16(3);
		payload = byteArray.getUnsignedInt8Array(5,249);
	}

	@Override
	public byte[] messagePayload() {
		ByteArray byteArray = new ByteArray(messagePayload);
		byteArray.putUnsignedInt8(targetNetwork,0);
		byteArray.putUnsignedInt8(targetSystem,1);
		byteArray.putUnsignedInt8(targetComponent,2);
		byteArray.putUnsignedInt16(messageType,3);
		byteArray.putUnsignedInt8Array(payload,5);
		return messagePayload;
	}
	
	@Override
	public String hexStringPayload() {
		return ByteModel.bytes2HexString(messagePayload);
	}

	public final V2Extension setTargetNetwork(short targetNetwork) {
		this.targetNetwork = targetNetwork;
		return this;
	}

	public final short getTargetNetwork() {
		return targetNetwork;
	}

	public final V2Extension setTargetSystem(short targetSystem) {
		this.targetSystem = targetSystem;
		return this;
	}

	public final short getTargetSystem() {
		return targetSystem;
	}

	public final V2Extension setTargetComponent(short targetComponent) {
		this.targetComponent = targetComponent;
		return this;
	}

	public final short getTargetComponent() {
		return targetComponent;
	}

	public final V2Extension setMessageType(int messageType) {
		this.messageType = messageType;
		return this;
	}

	public final int getMessageType() {
		return messageType;
	}

	public final V2Extension setPayload(short[] payload) {
		this.payload = payload;
		return this;
	}

	public final short[] getPayload() {
		return payload;
	}

	@Override
	public boolean equals(Object o) {
		if (this == o) {
			return true;
		} else if (o != null && this.getClass().equals(o.getClass())) {
			V2Extension other = (V2Extension)o;
			if (!Objects.deepEquals(this.targetNetwork, other.targetNetwork)) {
				return false;
			} else if (!Objects.deepEquals(this.targetSystem, other.targetSystem)) {
				return false;
			} else if (!Objects.deepEquals(this.targetComponent, other.targetComponent)) {
				return false;
			} else if (!Objects.deepEquals(this.messageType, other.messageType)) {
				return false;
			} else {
				return Objects.deepEquals(this.payload, other.payload);
			}
		} else {
			return false;
		}
	}

	@Override
	public int hashCode() {
		int result = 0;
		result = 31 * result + Objects.hashCode(this.targetNetwork);
		result = 31 * result + Objects.hashCode(this.targetSystem);
		result = 31 * result + Objects.hashCode(this.targetComponent);
		result = 31 * result + Objects.hashCode(this.messageType);
		result = 31 * result + Objects.hashCode(this.payload);
		return result;
	}

	@Override
	public String toString() {
		return "V2Extension{" +
				"targetNetwork=" + targetNetwork +
				", targetSystem=" + targetSystem +
				", targetComponent=" + targetComponent +
				", messageType=" + messageType +
				", payload=" + Arrays.toString(payload) +
				'}';
	}
}