
cn.wsyjlly.mavlink.common.v2.messages.ParamExtAck Maven / Gradle / Ivy
package cn.wsyjlly.mavlink.common.v2.messages;
import cn.wsyjlly.mavlink.annotation.MavlinkMessage;
import cn.wsyjlly.mavlink.annotation.MavlinkMessageParam;
import cn.wsyjlly.mavlink.common.Message;
import cn.wsyjlly.mavlink.common.v2.enums.ParamAck;
import cn.wsyjlly.mavlink.common.v2.enums.MavParamExtType;
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 - 02:46
**********************************/
@MavlinkMessage(
id = 324,
messagePayloadLength = 146,
description = "Response from a PARAM_EXT_SET message."
)
public class ParamExtAck implements Message {
@MavlinkMessageParam(mavlinkType = "char", position = 1, typeSize = 1, streamLength = 16, description = "Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string")
private String paramId;
@MavlinkMessageParam(mavlinkType = "char", position = 2, typeSize = 1, streamLength = 128, description = "Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)")
private String paramValue;
@MavlinkMessageParam(mavlinkType = "uint8_t", position = 3, typeSize = 1, streamLength = 1, description = "Parameter type.", enum0 = MavParamExtType.class)
private short paramType;
@MavlinkMessageParam(mavlinkType = "uint8_t", position = 4, typeSize = 1, streamLength = 1, description = "Result code.", enum0 = ParamAck.class)
private short paramResult;
private final int messagePayloadLength = 146;
private byte[] messagePayload = new byte[messagePayloadLength];
public ParamExtAck(String paramId, String paramValue, short paramType, short paramResult) {
this.paramId = paramId;
this.paramValue = paramValue;
this.paramType = paramType;
this.paramResult = paramResult;
}
public ParamExtAck(byte[] messagePayload) {
if (messagePayload.length != messagePayloadLength){
throw new IllegalArgumentException("Byte array length is not equal to 146!");
}
messagePayload(messagePayload);
}
public ParamExtAck(){ }
@Override
public void messagePayload(byte[] messagePayload) {
this.messagePayload = messagePayload;
ByteArray byteArray = new ByteArray(messagePayload);
paramId = byteArray.getChars(0,16);
paramValue = byteArray.getChars(16,128);
paramType = byteArray.getUnsignedInt8(144);
paramResult = byteArray.getUnsignedInt8(145);
}
@Override
public byte[] messagePayload() {
ByteArray byteArray = new ByteArray(messagePayload);
byteArray.putChars(paramId,0);
byteArray.putChars(paramValue,16);
byteArray.putUnsignedInt8(paramType,144);
byteArray.putUnsignedInt8(paramResult,145);
return messagePayload;
}
@Override
public String hexStringPayload() {
return ByteModel.bytes2HexString(messagePayload);
}
public final ParamExtAck setParamId(String paramId) {
this.paramId = paramId;
return this;
}
public final String getParamId() {
return paramId;
}
public final ParamExtAck setParamValue(String paramValue) {
this.paramValue = paramValue;
return this;
}
public final String getParamValue() {
return paramValue;
}
public final ParamExtAck setParamType(short paramType) {
this.paramType = paramType;
return this;
}
public final short getParamType() {
return paramType;
}
public final ParamExtAck setParamResult(short paramResult) {
this.paramResult = paramResult;
return this;
}
public final short getParamResult() {
return paramResult;
}
@Override
public boolean equals(Object o) {
if (this == o) {
return true;
} else if (o != null && this.getClass().equals(o.getClass())) {
ParamExtAck other = (ParamExtAck)o;
if (!Objects.deepEquals(this.paramId, other.paramId)) {
return false;
} else if (!Objects.deepEquals(this.paramValue, other.paramValue)) {
return false;
} else if (!Objects.deepEquals(this.paramType, other.paramType)) {
return false;
} else {
return Objects.deepEquals(this.paramResult, other.paramResult);
}
} else {
return false;
}
}
@Override
public int hashCode() {
int result = 0;
result = 31 * result + Objects.hashCode(this.paramId);
result = 31 * result + Objects.hashCode(this.paramValue);
result = 31 * result + Objects.hashCode(this.paramType);
result = 31 * result + Objects.hashCode(this.paramResult);
return result;
}
@Override
public String toString() {
return "ParamExtAck{" +
"paramId=" + paramId +
", paramValue=" + paramValue +
", paramType=" + paramType +
", paramResult=" + paramResult +
'}';
}
}
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