commonMain.com.divpundir.mavlink.definitions.common.ParamRequestRead.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.encodeInt16
import com.divpundir.mavlink.serialization.encodeString
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeInt16
import com.divpundir.mavlink.serialization.safeDecodeString
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.String
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit

/**
 * Request to read the onboard parameter with the param_id string id. Onboard parameters are stored
 * as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as
 * the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can
 * store different parameters for different autopilots. See also
 * https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU
 * code.
 *
 * @param targetSystem System ID
 * @param targetComponent Component ID
 * @param paramId Onboard parameter id, terminated by NULL if the length is less than 16
 * human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars -
 * applications have to provide 16+1 bytes storage if the ID is stored as string
 * @param paramIndex Parameter index. Send -1 to use the param ID field as identifier (else the
 * param id will be ignored)
 */
@GeneratedMavMessage(
  id = 20u,
  crcExtra = -42,
)
public data class ParamRequestRead(
  /**
   * System ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Component ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetComponent: UByte = 0u,
  /**
   * Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and
   * WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to
   * provide 16+1 bytes storage if the ID is stored as string
   */
  @GeneratedMavField(type = "char[16]")
  public val paramId: String = "",
  /**
   * Parameter index. Send -1 to use the param ID field as identifier (else the param id will be
   * ignored)
   */
  @GeneratedMavField(type = "int16_t")
  public val paramIndex: Short = 0,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeInt16(paramIndex)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeString(paramId, 16)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeInt16(paramIndex)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeString(paramId, 16)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 20

    private const val SIZE_V2: Int = 20

    override val id: UInt = 20u

    override val crcExtra: Byte = -42

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

      val paramIndex = decoder.safeDecodeInt16()
      val targetSystem = decoder.safeDecodeUInt8()
      val targetComponent = decoder.safeDecodeUInt8()
      val paramId = decoder.safeDecodeString(16)

      return ParamRequestRead(
        targetSystem = targetSystem,
        targetComponent = targetComponent,
        paramId = paramId,
        paramIndex = paramIndex,
      )
    }

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

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

    public var targetComponent: UByte = 0u

    public var paramId: String = ""

    public var paramIndex: Short = 0

    public fun build(): ParamRequestRead = ParamRequestRead(
      targetSystem = targetSystem,
      targetComponent = targetComponent,
      paramId = paramId,
      paramIndex = paramIndex,
    )
  }
}