commonMain.com.divpundir.mavlink.definitions.ardupilotmega.Ahrs2.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.ardupilotmega

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.MavDataDecoder
import com.divpundir.mavlink.serialization.MavDataEncoder
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeInt32
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeInt32
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UInt
import kotlin.Unit

/**
 * Status of secondary AHRS filter if available.
 *
 * @param roll Roll angle.
 * units = rad
 * @param pitch Pitch angle.
 * units = rad
 * @param yaw Yaw angle.
 * units = rad
 * @param altitude Altitude (MSL).
 * units = m
 * @param lat Latitude.
 * units = degE7
 * @param lng Longitude.
 * units = degE7
 */
@GeneratedMavMessage(
  id = 178u,
  crcExtra = 47,
)
public data class Ahrs2(
  /**
   * Roll angle.
   * units = rad
   */
  @GeneratedMavField(type = "float")
  public val roll: Float = 0F,
  /**
   * Pitch angle.
   * units = rad
   */
  @GeneratedMavField(type = "float")
  public val pitch: Float = 0F,
  /**
   * Yaw angle.
   * units = rad
   */
  @GeneratedMavField(type = "float")
  public val yaw: Float = 0F,
  /**
   * Altitude (MSL).
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val altitude: Float = 0F,
  /**
   * Latitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val lat: Int = 0,
  /**
   * Longitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val lng: Int = 0,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeFloat(roll)
    encoder.encodeFloat(pitch)
    encoder.encodeFloat(yaw)
    encoder.encodeFloat(altitude)
    encoder.encodeInt32(lat)
    encoder.encodeInt32(lng)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeFloat(roll)
    encoder.encodeFloat(pitch)
    encoder.encodeFloat(yaw)
    encoder.encodeFloat(altitude)
    encoder.encodeInt32(lat)
    encoder.encodeInt32(lng)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 24

    private const val SIZE_V2: Int = 24

    override val id: UInt = 178u

    override val crcExtra: Byte = 47

    override fun deserialize(bytes: ByteArray): Ahrs2 {
      val decoder = MavDataDecoder(bytes)

      val roll = decoder.safeDecodeFloat()
      val pitch = decoder.safeDecodeFloat()
      val yaw = decoder.safeDecodeFloat()
      val altitude = decoder.safeDecodeFloat()
      val lat = decoder.safeDecodeInt32()
      val lng = decoder.safeDecodeInt32()

      return Ahrs2(
        roll = roll,
        pitch = pitch,
        yaw = yaw,
        altitude = altitude,
        lat = lat,
        lng = lng,
      )
    }

    public operator fun invoke(builderAction: Builder.() -> Unit): Ahrs2 =
        Builder().apply(builderAction).build()
  }

  public class Builder {
    public var roll: Float = 0F

    public var pitch: Float = 0F

    public var yaw: Float = 0F

    public var altitude: Float = 0F

    public var lat: Int = 0

    public var lng: Int = 0

    public fun build(): Ahrs2 = Ahrs2(
      roll = roll,
      pitch = pitch,
      yaw = yaw,
      altitude = altitude,
      lat = lat,
      lng = lng,
    )
  }
}