commonMain.com.divpundir.mavlink.definitions.asluav.CommandIntStamped.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.asluav

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.definitions.common.MavCmd
import com.divpundir.mavlink.definitions.common.MavFrame
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.encodeUInt32
import com.divpundir.mavlink.serialization.encodeUInt64
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeInt32
import com.divpundir.mavlink.serialization.safeDecodeUInt32
import com.divpundir.mavlink.serialization.safeDecodeUInt64
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.ULong
import kotlin.Unit

/**
 * Message encoding a command with parameters as scaled integers and additional metadata. Scaling
 * depends on the actual command value.
 *
 * @param utcTime UTC time, seconds elapsed since 01.01.1970
 * @param vehicleTimestamp Microseconds elapsed since vehicle boot
 * @param targetSystem System ID
 * @param targetComponent Component ID
 * @param frame The coordinate system of the COMMAND, as defined by MAV_FRAME enum
 * @param command The scheduled action for the mission item, as defined by MAV_CMD enum
 * @param current false:0, true:1
 * @param autocontinue autocontinue to next wp
 * @param param1 PARAM1, see MAV_CMD enum
 * @param param2 PARAM2, see MAV_CMD enum
 * @param param3 PARAM3, see MAV_CMD enum
 * @param param4 PARAM4, see MAV_CMD enum
 * @param x PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
 * @param y PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
 * @param z PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home -
 * depending on frame).
 */
@GeneratedMavMessage(
  id = 223u,
  crcExtra = 119,
)
public data class CommandIntStamped(
  /**
   * UTC time, seconds elapsed since 01.01.1970
   */
  @GeneratedMavField(type = "uint32_t")
  public val utcTime: UInt = 0u,
  /**
   * Microseconds elapsed since vehicle boot
   */
  @GeneratedMavField(type = "uint64_t")
  public val vehicleTimestamp: ULong = 0uL,
  /**
   * System ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Component ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetComponent: UByte = 0u,
  /**
   * The coordinate system of the COMMAND, as defined by MAV_FRAME enum
   */
  @GeneratedMavField(type = "uint8_t")
  public val frame: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * The scheduled action for the mission item, as defined by MAV_CMD enum
   */
  @GeneratedMavField(type = "uint16_t")
  public val command: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * false:0, true:1
   */
  @GeneratedMavField(type = "uint8_t")
  public val current: UByte = 0u,
  /**
   * autocontinue to next wp
   */
  @GeneratedMavField(type = "uint8_t")
  public val autocontinue: UByte = 0u,
  /**
   * PARAM1, see MAV_CMD enum
   */
  @GeneratedMavField(type = "float")
  public val param1: Float = 0F,
  /**
   * PARAM2, see MAV_CMD enum
   */
  @GeneratedMavField(type = "float")
  public val param2: Float = 0F,
  /**
   * PARAM3, see MAV_CMD enum
   */
  @GeneratedMavField(type = "float")
  public val param3: Float = 0F,
  /**
   * PARAM4, see MAV_CMD enum
   */
  @GeneratedMavField(type = "float")
  public val param4: Float = 0F,
  /**
   * PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
   */
  @GeneratedMavField(type = "int32_t")
  public val x: Int = 0,
  /**
   * PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
   */
  @GeneratedMavField(type = "int32_t")
  public val y: Int = 0,
  /**
   * PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home -
   * depending on frame).
   */
  @GeneratedMavField(type = "float")
  public val z: Float = 0F,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt64(vehicleTimestamp)
    encoder.encodeUInt32(utcTime)
    encoder.encodeFloat(param1)
    encoder.encodeFloat(param2)
    encoder.encodeFloat(param3)
    encoder.encodeFloat(param4)
    encoder.encodeInt32(x)
    encoder.encodeInt32(y)
    encoder.encodeFloat(z)
    encoder.encodeEnumValue(command.value, 2)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeEnumValue(frame.value, 1)
    encoder.encodeUInt8(current)
    encoder.encodeUInt8(autocontinue)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt64(vehicleTimestamp)
    encoder.encodeUInt32(utcTime)
    encoder.encodeFloat(param1)
    encoder.encodeFloat(param2)
    encoder.encodeFloat(param3)
    encoder.encodeFloat(param4)
    encoder.encodeInt32(x)
    encoder.encodeInt32(y)
    encoder.encodeFloat(z)
    encoder.encodeEnumValue(command.value, 2)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeEnumValue(frame.value, 1)
    encoder.encodeUInt8(current)
    encoder.encodeUInt8(autocontinue)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 47

    private const val SIZE_V2: Int = 47

    override val id: UInt = 223u

    override val crcExtra: Byte = 119

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

      val vehicleTimestamp = decoder.safeDecodeUInt64()
      val utcTime = decoder.safeDecodeUInt32()
      val param1 = decoder.safeDecodeFloat()
      val param2 = decoder.safeDecodeFloat()
      val param3 = decoder.safeDecodeFloat()
      val param4 = decoder.safeDecodeFloat()
      val x = decoder.safeDecodeInt32()
      val y = decoder.safeDecodeInt32()
      val z = decoder.safeDecodeFloat()
      val command = decoder.safeDecodeEnumValue(2).let { value ->
        val entry = MavCmd.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }
      val targetSystem = decoder.safeDecodeUInt8()
      val targetComponent = decoder.safeDecodeUInt8()
      val frame = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = MavFrame.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }
      val current = decoder.safeDecodeUInt8()
      val autocontinue = decoder.safeDecodeUInt8()

      return CommandIntStamped(
        utcTime = utcTime,
        vehicleTimestamp = vehicleTimestamp,
        targetSystem = targetSystem,
        targetComponent = targetComponent,
        frame = frame,
        command = command,
        current = current,
        autocontinue = autocontinue,
        param1 = param1,
        param2 = param2,
        param3 = param3,
        param4 = param4,
        x = x,
        y = y,
        z = z,
      )
    }

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

  public class Builder {
    public var utcTime: UInt = 0u

    public var vehicleTimestamp: ULong = 0uL

    public var targetSystem: UByte = 0u

    public var targetComponent: UByte = 0u

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

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

    public var current: UByte = 0u

    public var autocontinue: UByte = 0u

    public var param1: Float = 0F

    public var param2: Float = 0F

    public var param3: Float = 0F

    public var param4: Float = 0F

    public var x: Int = 0

    public var y: Int = 0

    public var z: Float = 0F

    public fun build(): CommandIntStamped = CommandIntStamped(
      utcTime = utcTime,
      vehicleTimestamp = vehicleTimestamp,
      targetSystem = targetSystem,
      targetComponent = targetComponent,
      frame = frame,
      command = command,
      current = current,
      autocontinue = autocontinue,
      param1 = param1,
      param2 = param2,
      param3 = param3,
      param4 = param4,
      x = x,
      y = y,
      z = z,
    )
  }
}