commonMain.com.divpundir.mavlink.definitions.avssuas.AvssDroneImu.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.avssuas

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.encodeUInt32
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeUInt32
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UInt
import kotlin.Unit

/**
 *  Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0
 * 0).
 *
 * @param timeBootMs Timestamp (time since FC boot).
 * units = ms
 * @param q1 Quaternion component 1, w (1 in null-rotation)
 * @param q2 Quaternion component 2, x (0 in null-rotation)
 * @param q3 Quaternion component 3, y (0 in null-rotation)
 * @param q4 Quaternion component 4, z (0 in null-rotation)
 * @param xacc X acceleration
 * units = m/s/s
 * @param yacc Y acceleration
 * units = m/s/s
 * @param zacc Z acceleration
 * units = m/s/s
 * @param xgyro Angular speed around X axis
 * units = rad/s
 * @param ygyro Angular speed around Y axis
 * units = rad/s
 * @param zgyro Angular speed around Z axis
 * units = rad/s
 */
@GeneratedMavMessage(
  id = 60_052u,
  crcExtra = 101,
)
public data class AvssDroneImu(
  /**
   * Timestamp (time since FC boot).
   * units = ms
   */
  @GeneratedMavField(type = "uint32_t")
  public val timeBootMs: UInt = 0u,
  /**
   * Quaternion component 1, w (1 in null-rotation)
   */
  @GeneratedMavField(type = "float")
  public val q1: Float = 0F,
  /**
   * Quaternion component 2, x (0 in null-rotation)
   */
  @GeneratedMavField(type = "float")
  public val q2: Float = 0F,
  /**
   * Quaternion component 3, y (0 in null-rotation)
   */
  @GeneratedMavField(type = "float")
  public val q3: Float = 0F,
  /**
   * Quaternion component 4, z (0 in null-rotation)
   */
  @GeneratedMavField(type = "float")
  public val q4: Float = 0F,
  /**
   * X acceleration
   * units = m/s/s
   */
  @GeneratedMavField(type = "float")
  public val xacc: Float = 0F,
  /**
   * Y acceleration
   * units = m/s/s
   */
  @GeneratedMavField(type = "float")
  public val yacc: Float = 0F,
  /**
   * Z acceleration
   * units = m/s/s
   */
  @GeneratedMavField(type = "float")
  public val zacc: Float = 0F,
  /**
   * Angular speed around X axis
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val xgyro: Float = 0F,
  /**
   * Angular speed around Y axis
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val ygyro: Float = 0F,
  /**
   * Angular speed around Z axis
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val zgyro: Float = 0F,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt32(timeBootMs)
    encoder.encodeFloat(q1)
    encoder.encodeFloat(q2)
    encoder.encodeFloat(q3)
    encoder.encodeFloat(q4)
    encoder.encodeFloat(xacc)
    encoder.encodeFloat(yacc)
    encoder.encodeFloat(zacc)
    encoder.encodeFloat(xgyro)
    encoder.encodeFloat(ygyro)
    encoder.encodeFloat(zgyro)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt32(timeBootMs)
    encoder.encodeFloat(q1)
    encoder.encodeFloat(q2)
    encoder.encodeFloat(q3)
    encoder.encodeFloat(q4)
    encoder.encodeFloat(xacc)
    encoder.encodeFloat(yacc)
    encoder.encodeFloat(zacc)
    encoder.encodeFloat(xgyro)
    encoder.encodeFloat(ygyro)
    encoder.encodeFloat(zgyro)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 44

    private const val SIZE_V2: Int = 44

    override val id: UInt = 60_052u

    override val crcExtra: Byte = 101

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

      val timeBootMs = decoder.safeDecodeUInt32()
      val q1 = decoder.safeDecodeFloat()
      val q2 = decoder.safeDecodeFloat()
      val q3 = decoder.safeDecodeFloat()
      val q4 = decoder.safeDecodeFloat()
      val xacc = decoder.safeDecodeFloat()
      val yacc = decoder.safeDecodeFloat()
      val zacc = decoder.safeDecodeFloat()
      val xgyro = decoder.safeDecodeFloat()
      val ygyro = decoder.safeDecodeFloat()
      val zgyro = decoder.safeDecodeFloat()

      return AvssDroneImu(
        timeBootMs = timeBootMs,
        q1 = q1,
        q2 = q2,
        q3 = q3,
        q4 = q4,
        xacc = xacc,
        yacc = yacc,
        zacc = zacc,
        xgyro = xgyro,
        ygyro = ygyro,
        zgyro = zgyro,
      )
    }

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

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

    public var q1: Float = 0F

    public var q2: Float = 0F

    public var q3: Float = 0F

    public var q4: Float = 0F

    public var xacc: Float = 0F

    public var yacc: Float = 0F

    public var zacc: Float = 0F

    public var xgyro: Float = 0F

    public var ygyro: Float = 0F

    public var zgyro: Float = 0F

    public fun build(): AvssDroneImu = AvssDroneImu(
      timeBootMs = timeBootMs,
      q1 = q1,
      q2 = q2,
      q3 = q3,
      q4 = q4,
      xacc = xacc,
      yacc = yacc,
      zacc = zacc,
      xgyro = xgyro,
      ygyro = ygyro,
      zgyro = zgyro,
    )
  }
}