commonMain.com.divpundir.mavlink.definitions.common.GpsStatus.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.common

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.encodeUInt8
import com.divpundir.mavlink.serialization.encodeUInt8Array
import com.divpundir.mavlink.serialization.safeDecodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeUInt8Array
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit
import kotlin.collections.List

/**
 * The positioning status, as reported by GPS. This message is intended to display status
 * information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the
 * global position estimate. This message can contain information for up to 20 satellites.
 *
 * @param satellitesVisible Number of satellites visible
 * @param satellitePrn Global satellite ID
 * @param satelliteUsed 0: Satellite not used, 1: used for localization
 * @param satelliteElevation Elevation (0: right on top of receiver, 90: on the horizon) of
 * satellite
 * units = deg
 * @param satelliteAzimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
 * units = deg
 * @param satelliteSnr Signal to noise ratio of satellite
 * units = dB
 */
@GeneratedMavMessage(
  id = 25u,
  crcExtra = 23,
)
public data class GpsStatus(
  /**
   * Number of satellites visible
   */
  @GeneratedMavField(type = "uint8_t")
  public val satellitesVisible: UByte = 0u,
  /**
   * Global satellite ID
   */
  @GeneratedMavField(type = "uint8_t[20]")
  public val satellitePrn: List = emptyList(),
  /**
   * 0: Satellite not used, 1: used for localization
   */
  @GeneratedMavField(type = "uint8_t[20]")
  public val satelliteUsed: List = emptyList(),
  /**
   * Elevation (0: right on top of receiver, 90: on the horizon) of satellite
   * units = deg
   */
  @GeneratedMavField(type = "uint8_t[20]")
  public val satelliteElevation: List = emptyList(),
  /**
   * Direction of satellite, 0: 0 deg, 255: 360 deg.
   * units = deg
   */
  @GeneratedMavField(type = "uint8_t[20]")
  public val satelliteAzimuth: List = emptyList(),
  /**
   * Signal to noise ratio of satellite
   * units = dB
   */
  @GeneratedMavField(type = "uint8_t[20]")
  public val satelliteSnr: List = emptyList(),
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt8(satellitesVisible)
    encoder.encodeUInt8Array(satellitePrn, 20)
    encoder.encodeUInt8Array(satelliteUsed, 20)
    encoder.encodeUInt8Array(satelliteElevation, 20)
    encoder.encodeUInt8Array(satelliteAzimuth, 20)
    encoder.encodeUInt8Array(satelliteSnr, 20)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt8(satellitesVisible)
    encoder.encodeUInt8Array(satellitePrn, 20)
    encoder.encodeUInt8Array(satelliteUsed, 20)
    encoder.encodeUInt8Array(satelliteElevation, 20)
    encoder.encodeUInt8Array(satelliteAzimuth, 20)
    encoder.encodeUInt8Array(satelliteSnr, 20)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 101

    private const val SIZE_V2: Int = 101

    override val id: UInt = 25u

    override val crcExtra: Byte = 23

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

      val satellitesVisible = decoder.safeDecodeUInt8()
      val satellitePrn = decoder.safeDecodeUInt8Array(20)
      val satelliteUsed = decoder.safeDecodeUInt8Array(20)
      val satelliteElevation = decoder.safeDecodeUInt8Array(20)
      val satelliteAzimuth = decoder.safeDecodeUInt8Array(20)
      val satelliteSnr = decoder.safeDecodeUInt8Array(20)

      return GpsStatus(
        satellitesVisible = satellitesVisible,
        satellitePrn = satellitePrn,
        satelliteUsed = satelliteUsed,
        satelliteElevation = satelliteElevation,
        satelliteAzimuth = satelliteAzimuth,
        satelliteSnr = satelliteSnr,
      )
    }

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

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

    public var satellitePrn: List = emptyList()

    public var satelliteUsed: List = emptyList()

    public var satelliteElevation: List = emptyList()

    public var satelliteAzimuth: List = emptyList()

    public var satelliteSnr: List = emptyList()

    public fun build(): GpsStatus = GpsStatus(
      satellitesVisible = satellitesVisible,
      satellitePrn = satellitePrn,
      satelliteUsed = satelliteUsed,
      satelliteElevation = satelliteElevation,
      satelliteAzimuth = satelliteAzimuth,
      satelliteSnr = satelliteSnr,
    )
  }
}