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A modern MAVLink library for the JVM written in Kotlin.

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package com.divpundir.mavlink.definitions.icarous

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
import com.divpundir.mavlink.api.MavEnumValue
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.MavDataDecoder
import com.divpundir.mavlink.serialization.MavDataEncoder
import com.divpundir.mavlink.serialization.encodeEnumValue
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Int
import kotlin.UInt
import kotlin.Unit

/**
 * ICAROUS heartbeat
 *
 * @param status See the FMS_STATE enum.
 */
@GeneratedMavMessage(
  id = 42_000u,
  crcExtra = -29,
)
public data class IcarousHeartbeat(
  /**
   * See the FMS_STATE enum.
   */
  @GeneratedMavField(type = "uint8_t")
  public val status: MavEnumValue = MavEnumValue.fromValue(0u),
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeEnumValue(status.value, 1)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeEnumValue(status.value, 1)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 1

    private const val SIZE_V2: Int = 1

    override val id: UInt = 42_000u

    override val crcExtra: Byte = -29

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

      val status = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = IcarousFmsState.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      return IcarousHeartbeat(
        status = status,
      )
    }

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

  public class Builder {
    public var status: MavEnumValue = MavEnumValue.fromValue(0u)

    public fun build(): IcarousHeartbeat = IcarousHeartbeat(
      status = status,
    )
  }
}