commonMain.com.divpundir.mavlink.definitions.ardupilotmega.Deepstall.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.MavEnumValue
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.MavDataDecoder
import com.divpundir.mavlink.serialization.MavDataEncoder
import com.divpundir.mavlink.serialization.encodeEnumValue
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeInt32
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
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

/**
 * Deepstall path planning.
 *
 * @param landingLat Landing latitude.
 * units = degE7
 * @param landingLon Landing longitude.
 * units = degE7
 * @param pathLat Final heading start point, latitude.
 * units = degE7
 * @param pathLon Final heading start point, longitude.
 * units = degE7
 * @param arcEntryLat Arc entry point, latitude.
 * units = degE7
 * @param arcEntryLon Arc entry point, longitude.
 * units = degE7
 * @param altitude Altitude.
 * units = m
 * @param expectedTravelDistance Distance the aircraft expects to travel during the deepstall.
 * units = m
 * @param crossTrackError Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
 * units = m
 * @param stage Deepstall stage.
 */
@GeneratedMavMessage(
  id = 195u,
  crcExtra = 120,
)
public data class Deepstall(
  /**
   * Landing latitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val landingLat: Int = 0,
  /**
   * Landing longitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val landingLon: Int = 0,
  /**
   * Final heading start point, latitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val pathLat: Int = 0,
  /**
   * Final heading start point, longitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val pathLon: Int = 0,
  /**
   * Arc entry point, latitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val arcEntryLat: Int = 0,
  /**
   * Arc entry point, longitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val arcEntryLon: Int = 0,
  /**
   * Altitude.
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val altitude: Float = 0F,
  /**
   * Distance the aircraft expects to travel during the deepstall.
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val expectedTravelDistance: Float = 0F,
  /**
   * Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val crossTrackError: Float = 0F,
  /**
   * Deepstall stage.
   */
  @GeneratedMavField(type = "uint8_t")
  public val stage: MavEnumValue = MavEnumValue.fromValue(0u),
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeInt32(landingLat)
    encoder.encodeInt32(landingLon)
    encoder.encodeInt32(pathLat)
    encoder.encodeInt32(pathLon)
    encoder.encodeInt32(arcEntryLat)
    encoder.encodeInt32(arcEntryLon)
    encoder.encodeFloat(altitude)
    encoder.encodeFloat(expectedTravelDistance)
    encoder.encodeFloat(crossTrackError)
    encoder.encodeEnumValue(stage.value, 1)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeInt32(landingLat)
    encoder.encodeInt32(landingLon)
    encoder.encodeInt32(pathLat)
    encoder.encodeInt32(pathLon)
    encoder.encodeInt32(arcEntryLat)
    encoder.encodeInt32(arcEntryLon)
    encoder.encodeFloat(altitude)
    encoder.encodeFloat(expectedTravelDistance)
    encoder.encodeFloat(crossTrackError)
    encoder.encodeEnumValue(stage.value, 1)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 37

    private const val SIZE_V2: Int = 37

    override val id: UInt = 195u

    override val crcExtra: Byte = 120

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

      val landingLat = decoder.safeDecodeInt32()
      val landingLon = decoder.safeDecodeInt32()
      val pathLat = decoder.safeDecodeInt32()
      val pathLon = decoder.safeDecodeInt32()
      val arcEntryLat = decoder.safeDecodeInt32()
      val arcEntryLon = decoder.safeDecodeInt32()
      val altitude = decoder.safeDecodeFloat()
      val expectedTravelDistance = decoder.safeDecodeFloat()
      val crossTrackError = decoder.safeDecodeFloat()
      val stage = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = DeepstallStage.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      return Deepstall(
        landingLat = landingLat,
        landingLon = landingLon,
        pathLat = pathLat,
        pathLon = pathLon,
        arcEntryLat = arcEntryLat,
        arcEntryLon = arcEntryLon,
        altitude = altitude,
        expectedTravelDistance = expectedTravelDistance,
        crossTrackError = crossTrackError,
        stage = stage,
      )
    }

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

  public class Builder {
    public var landingLat: Int = 0

    public var landingLon: Int = 0

    public var pathLat: Int = 0

    public var pathLon: Int = 0

    public var arcEntryLat: Int = 0

    public var arcEntryLon: Int = 0

    public var altitude: Float = 0F

    public var expectedTravelDistance: Float = 0F

    public var crossTrackError: Float = 0F

    public var stage: MavEnumValue = MavEnumValue.fromValue(0u)

    public fun build(): Deepstall = Deepstall(
      landingLat = landingLat,
      landingLon = landingLon,
      pathLat = pathLat,
      pathLon = pathLon,
      arcEntryLat = arcEntryLat,
      arcEntryLon = arcEntryLon,
      altitude = altitude,
      expectedTravelDistance = expectedTravelDistance,
      crossTrackError = crossTrackError,
      stage = stage,
    )
  }
}