commonMain.com.divpundir.mavlink.definitions.common.ManualControl.kt Maven / Gradle / Ivy
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.encodeInt16
import com.divpundir.mavlink.serialization.encodeUInt16
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeInt16
import com.divpundir.mavlink.serialization.safeDecodeUInt16
import com.divpundir.mavlink.serialization.safeDecodeUInt8
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Int
import kotlin.Short
import kotlin.UByte
import kotlin.UInt
import kotlin.UShort
import kotlin.Unit
/**
* This message provides an API for manually controlling the vehicle using standard joystick axes
* nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons
* states are transmitted as individual on/off bits of a bitmask
*
* @param target The system to be controlled.
* @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this
* axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and
* the pitch of a vehicle.
* @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this
* axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the
* roll of a vehicle.
* @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this
* axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and
* minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust,
* negative values are negative thrust.
* @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this
* axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being
* 1000 and clockwise being -1000, and the yaw of a vehicle.
* @param buttons A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for
* pressed, 0 for released. The lowest bit corresponds to Button 1.
* @param buttons2 A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for
* pressed, 0 for released. The lowest bit corresponds to Button 16.
* @param enabledExtensions Set bits to 1 to indicate which of the following extension fields
* contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4,
* bit 6: aux5, bit 7: aux6
* @param s Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on
* vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set
* to 0 if invalid.
* @param t Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on
* vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set
* to 0 if invalid.
* @param aux1 Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
* @param aux2 Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
* @param aux3 Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
* @param aux4 Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
* @param aux5 Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
* @param aux6 Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined
* by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.
*/
@GeneratedMavMessage(
id = 69u,
crcExtra = -13,
)
public data class ManualControl(
/**
* The system to be controlled.
*/
@GeneratedMavField(type = "uint8_t")
public val target: UByte = 0u,
/**
* X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is
* invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the
* pitch of a vehicle.
*/
@GeneratedMavField(type = "int16_t")
public val x: Short = 0,
/**
* Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is
* invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a
* vehicle.
*/
@GeneratedMavField(type = "int16_t")
public val y: Short = 0,
/**
* Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is
* invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum
* being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust,
* negative values are negative thrust.
*/
@GeneratedMavField(type = "int16_t")
public val z: Short = 0,
/**
* R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is
* invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000
* and clockwise being -1000, and the yaw of a vehicle.
*/
@GeneratedMavField(type = "int16_t")
public val r: Short = 0,
/**
* A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for
* released. The lowest bit corresponds to Button 1.
*/
@GeneratedMavField(type = "uint16_t")
public val buttons: UShort = 0u,
/**
* A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for
* released. The lowest bit corresponds to Button 16.
*/
@GeneratedMavField(
type = "uint16_t",
extension = true,
)
public val buttons2: UShort = 0u,
/**
* Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0:
* pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
*/
@GeneratedMavField(
type = "uint8_t",
extension = true,
)
public val enabledExtensions: UByte = 0u,
/**
* Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on
* vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set.
* Set to 0 if invalid.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val s: Short = 0,
/**
* Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles
* with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if
* invalid.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val t: Short = 0,
/**
* Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux1: Short = 0,
/**
* Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux2: Short = 0,
/**
* Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux3: Short = 0,
/**
* Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux4: Short = 0,
/**
* Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux5: Short = 0,
/**
* Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by
* recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.
*/
@GeneratedMavField(
type = "int16_t",
extension = true,
)
public val aux6: Short = 0,
) : MavMessage {
override val instanceCompanion: MavMessage.MavCompanion = Companion
override fun serializeV1(): ByteArray {
val encoder = MavDataEncoder(SIZE_V1)
encoder.encodeInt16(x)
encoder.encodeInt16(y)
encoder.encodeInt16(z)
encoder.encodeInt16(r)
encoder.encodeUInt16(buttons)
encoder.encodeUInt8(target)
return encoder.bytes
}
override fun serializeV2(): ByteArray {
val encoder = MavDataEncoder(SIZE_V2)
encoder.encodeInt16(x)
encoder.encodeInt16(y)
encoder.encodeInt16(z)
encoder.encodeInt16(r)
encoder.encodeUInt16(buttons)
encoder.encodeUInt8(target)
encoder.encodeUInt16(buttons2)
encoder.encodeUInt8(enabledExtensions)
encoder.encodeInt16(s)
encoder.encodeInt16(t)
encoder.encodeInt16(aux1)
encoder.encodeInt16(aux2)
encoder.encodeInt16(aux3)
encoder.encodeInt16(aux4)
encoder.encodeInt16(aux5)
encoder.encodeInt16(aux6)
return encoder.bytes.truncateZeros()
}
public companion object : MavMessage.MavCompanion {
private const val SIZE_V1: Int = 11
private const val SIZE_V2: Int = 30
override val id: UInt = 69u
override val crcExtra: Byte = -13
override fun deserialize(bytes: ByteArray): ManualControl {
val decoder = MavDataDecoder(bytes)
val x = decoder.safeDecodeInt16()
val y = decoder.safeDecodeInt16()
val z = decoder.safeDecodeInt16()
val r = decoder.safeDecodeInt16()
val buttons = decoder.safeDecodeUInt16()
val target = decoder.safeDecodeUInt8()
val buttons2 = decoder.safeDecodeUInt16()
val enabledExtensions = decoder.safeDecodeUInt8()
val s = decoder.safeDecodeInt16()
val t = decoder.safeDecodeInt16()
val aux1 = decoder.safeDecodeInt16()
val aux2 = decoder.safeDecodeInt16()
val aux3 = decoder.safeDecodeInt16()
val aux4 = decoder.safeDecodeInt16()
val aux5 = decoder.safeDecodeInt16()
val aux6 = decoder.safeDecodeInt16()
return ManualControl(
target = target,
x = x,
y = y,
z = z,
r = r,
buttons = buttons,
buttons2 = buttons2,
enabledExtensions = enabledExtensions,
s = s,
t = t,
aux1 = aux1,
aux2 = aux2,
aux3 = aux3,
aux4 = aux4,
aux5 = aux5,
aux6 = aux6,
)
}
public operator fun invoke(builderAction: Builder.() -> Unit): ManualControl =
Builder().apply(builderAction).build()
}
public class Builder {
public var target: UByte = 0u
public var x: Short = 0
public var y: Short = 0
public var z: Short = 0
public var r: Short = 0
public var buttons: UShort = 0u
public var buttons2: UShort = 0u
public var enabledExtensions: UByte = 0u
public var s: Short = 0
public var t: Short = 0
public var aux1: Short = 0
public var aux2: Short = 0
public var aux3: Short = 0
public var aux4: Short = 0
public var aux5: Short = 0
public var aux6: Short = 0
public fun build(): ManualControl = ManualControl(
target = target,
x = x,
y = y,
z = z,
r = r,
buttons = buttons,
buttons2 = buttons2,
enabledExtensions = enabledExtensions,
s = s,
t = t,
aux1 = aux1,
aux2 = aux2,
aux3 = aux3,
aux4 = aux4,
aux5 = aux5,
aux6 = aux6,
)
}
}
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