commonMain.com.divpundir.mavlink.definitions.asluav.SensorpodStatus.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.MavMessage
import com.divpundir.mavlink.serialization.MavDataDecoder
import com.divpundir.mavlink.serialization.MavDataEncoder
import com.divpundir.mavlink.serialization.encodeUInt16
import com.divpundir.mavlink.serialization.encodeUInt64
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeUInt16
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.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.ULong
import kotlin.UShort
import kotlin.Unit

/**
 * Monitoring of sensorpod status
 *
 * @param timestamp Timestamp in linuxtime (since 1.1.1970)
 * units = ms
 * @param visensorRate1 Rate of ROS topic 1
 * @param visensorRate2 Rate of ROS topic 2
 * @param visensorRate3 Rate of ROS topic 3
 * @param visensorRate4 Rate of ROS topic 4
 * @param recordingNodesCount Number of recording nodes
 * @param cpuTemp Temperature of sensorpod CPU in
 * units = degC
 * @param freeSpace Free space available in recordings directory in [Gb] * 1e2
 */
@GeneratedMavMessage(
  id = 8_012u,
  crcExtra = 54,
)
public data class SensorpodStatus(
  /**
   * Timestamp in linuxtime (since 1.1.1970)
   * units = ms
   */
  @GeneratedMavField(type = "uint64_t")
  public val timestamp: ULong = 0uL,
  /**
   * Rate of ROS topic 1
   */
  @GeneratedMavField(type = "uint8_t")
  public val visensorRate1: UByte = 0u,
  /**
   * Rate of ROS topic 2
   */
  @GeneratedMavField(type = "uint8_t")
  public val visensorRate2: UByte = 0u,
  /**
   * Rate of ROS topic 3
   */
  @GeneratedMavField(type = "uint8_t")
  public val visensorRate3: UByte = 0u,
  /**
   * Rate of ROS topic 4
   */
  @GeneratedMavField(type = "uint8_t")
  public val visensorRate4: UByte = 0u,
  /**
   * Number of recording nodes
   */
  @GeneratedMavField(type = "uint8_t")
  public val recordingNodesCount: UByte = 0u,
  /**
   * Temperature of sensorpod CPU in
   * units = degC
   */
  @GeneratedMavField(type = "uint8_t")
  public val cpuTemp: UByte = 0u,
  /**
   * Free space available in recordings directory in [Gb] * 1e2
   */
  @GeneratedMavField(type = "uint16_t")
  public val freeSpace: UShort = 0u,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt64(timestamp)
    encoder.encodeUInt16(freeSpace)
    encoder.encodeUInt8(visensorRate1)
    encoder.encodeUInt8(visensorRate2)
    encoder.encodeUInt8(visensorRate3)
    encoder.encodeUInt8(visensorRate4)
    encoder.encodeUInt8(recordingNodesCount)
    encoder.encodeUInt8(cpuTemp)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt64(timestamp)
    encoder.encodeUInt16(freeSpace)
    encoder.encodeUInt8(visensorRate1)
    encoder.encodeUInt8(visensorRate2)
    encoder.encodeUInt8(visensorRate3)
    encoder.encodeUInt8(visensorRate4)
    encoder.encodeUInt8(recordingNodesCount)
    encoder.encodeUInt8(cpuTemp)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 16

    private const val SIZE_V2: Int = 16

    override val id: UInt = 8_012u

    override val crcExtra: Byte = 54

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

      val timestamp = decoder.safeDecodeUInt64()
      val freeSpace = decoder.safeDecodeUInt16()
      val visensorRate1 = decoder.safeDecodeUInt8()
      val visensorRate2 = decoder.safeDecodeUInt8()
      val visensorRate3 = decoder.safeDecodeUInt8()
      val visensorRate4 = decoder.safeDecodeUInt8()
      val recordingNodesCount = decoder.safeDecodeUInt8()
      val cpuTemp = decoder.safeDecodeUInt8()

      return SensorpodStatus(
        timestamp = timestamp,
        visensorRate1 = visensorRate1,
        visensorRate2 = visensorRate2,
        visensorRate3 = visensorRate3,
        visensorRate4 = visensorRate4,
        recordingNodesCount = recordingNodesCount,
        cpuTemp = cpuTemp,
        freeSpace = freeSpace,
      )
    }

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

  public class Builder {
    public var timestamp: ULong = 0uL

    public var visensorRate1: UByte = 0u

    public var visensorRate2: UByte = 0u

    public var visensorRate3: UByte = 0u

    public var visensorRate4: UByte = 0u

    public var recordingNodesCount: UByte = 0u

    public var cpuTemp: UByte = 0u

    public var freeSpace: UShort = 0u

    public fun build(): SensorpodStatus = SensorpodStatus(
      timestamp = timestamp,
      visensorRate1 = visensorRate1,
      visensorRate2 = visensorRate2,
      visensorRate3 = visensorRate3,
      visensorRate4 = visensorRate4,
      recordingNodesCount = recordingNodesCount,
      cpuTemp = cpuTemp,
      freeSpace = freeSpace,
    )
  }
}