commonMain.com.divpundir.mavlink.definitions.ardupilotmega.GimbalControl.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.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeUInt8
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit

/**
 * Control message for rate gimbal.
 *
 * @param targetSystem System ID.
 * @param targetComponent Component ID.
 * @param demandedRateX Demanded angular rate X.
 * units = rad/s
 * @param demandedRateY Demanded angular rate Y.
 * units = rad/s
 * @param demandedRateZ Demanded angular rate Z.
 * units = rad/s
 */
@GeneratedMavMessage(
  id = 201u,
  crcExtra = -51,
)
public data class GimbalControl(
  /**
   * System ID.
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Component ID.
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetComponent: UByte = 0u,
  /**
   * Demanded angular rate X.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val demandedRateX: Float = 0F,
  /**
   * Demanded angular rate Y.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val demandedRateY: Float = 0F,
  /**
   * Demanded angular rate Z.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val demandedRateZ: Float = 0F,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeFloat(demandedRateX)
    encoder.encodeFloat(demandedRateY)
    encoder.encodeFloat(demandedRateZ)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeFloat(demandedRateX)
    encoder.encodeFloat(demandedRateY)
    encoder.encodeFloat(demandedRateZ)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 14

    private const val SIZE_V2: Int = 14

    override val id: UInt = 201u

    override val crcExtra: Byte = -51

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

      val demandedRateX = decoder.safeDecodeFloat()
      val demandedRateY = decoder.safeDecodeFloat()
      val demandedRateZ = decoder.safeDecodeFloat()
      val targetSystem = decoder.safeDecodeUInt8()
      val targetComponent = decoder.safeDecodeUInt8()

      return GimbalControl(
        targetSystem = targetSystem,
        targetComponent = targetComponent,
        demandedRateX = demandedRateX,
        demandedRateY = demandedRateY,
        demandedRateZ = demandedRateZ,
      )
    }

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

  public class Builder {
    public var targetSystem: UByte = 0u

    public var targetComponent: UByte = 0u

    public var demandedRateX: Float = 0F

    public var demandedRateY: Float = 0F

    public var demandedRateZ: Float = 0F

    public fun build(): GimbalControl = GimbalControl(
      targetSystem = targetSystem,
      targetComponent = targetComponent,
      demandedRateX = demandedRateX,
      demandedRateY = demandedRateY,
      demandedRateZ = demandedRateZ,
    )
  }
}