commonMain.com.divpundir.mavlink.definitions.storm32.Storm32GimbalManagerControl.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.storm32

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
import com.divpundir.mavlink.api.MavBitmaskValue
import com.divpundir.mavlink.api.MavEnumValue
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.definitions.common.GimbalDeviceFlags
import com.divpundir.mavlink.serialization.MavDataDecoder
import com.divpundir.mavlink.serialization.MavDataEncoder
import com.divpundir.mavlink.serialization.encodeBitmaskValue
import com.divpundir.mavlink.serialization.encodeEnumValue
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeFloatArray
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeBitmaskValue
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeFloatArray
import com.divpundir.mavlink.serialization.safeDecodeUInt8
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit
import kotlin.collections.List

/**
 * Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN
 * according to use case. A gimbal device is never to react to this message.
 *
 * @param targetSystem System ID
 * @param targetComponent Component ID
 * @param gimbalId Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink
 * gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
 * @param client Client which is contacting the gimbal manager (must be set).
 * @param deviceFlags Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as
 * used in GIMBAL_DEVICE_SET_ATTITUDE.
 * @param managerFlags Gimbal manager flags to be applied (0 to be ignored).
 * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to
 * NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
 * @param angularVelocityX X component of angular velocity (positive: roll to the right). NaN to be
 * ignored.
 * units = rad/s
 * @param angularVelocityY Y component of angular velocity (positive: tilt up). NaN to be ignored.
 * units = rad/s
 * @param angularVelocityZ Z component of angular velocity (positive: pan to the right). NaN to be
 * ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
 * units = rad/s
 */
@GeneratedMavMessage(
  id = 60_012u,
  crcExtra = 99,
)
public data class Storm32GimbalManagerControl(
  /**
   * System ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Component ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetComponent: UByte = 0u,
  /**
   * Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for
   * all gimbals). Send command multiple times for more than one but not all gimbals.
   */
  @GeneratedMavField(type = "uint8_t")
  public val gimbalId: UByte = 0u,
  /**
   * Client which is contacting the gimbal manager (must be set).
   */
  @GeneratedMavField(type = "uint8_t")
  public val client: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in
   * GIMBAL_DEVICE_SET_ATTITUDE.
   */
  @GeneratedMavField(type = "uint16_t")
  public val deviceFlags: MavBitmaskValue = MavBitmaskValue.fromValue(0u),
  /**
   * Gimbal manager flags to be applied (0 to be ignored).
   */
  @GeneratedMavField(type = "uint16_t")
  public val managerFlags: MavBitmaskValue =
      MavBitmaskValue.fromValue(0u),
  /**
   * Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to
   * be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
   */
  @GeneratedMavField(type = "float[4]")
  public val q: List = emptyList(),
  /**
   * X component of angular velocity (positive: roll to the right). NaN to be ignored.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val angularVelocityX: Float = 0F,
  /**
   * Y component of angular velocity (positive: tilt up). NaN to be ignored.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val angularVelocityY: Float = 0F,
  /**
   * Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is
   * determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
   * units = rad/s
   */
  @GeneratedMavField(type = "float")
  public val angularVelocityZ: Float = 0F,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeFloatArray(q, 16)
    encoder.encodeFloat(angularVelocityX)
    encoder.encodeFloat(angularVelocityY)
    encoder.encodeFloat(angularVelocityZ)
    encoder.encodeBitmaskValue(deviceFlags.value, 2)
    encoder.encodeBitmaskValue(managerFlags.value, 2)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeUInt8(gimbalId)
    encoder.encodeEnumValue(client.value, 1)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeFloatArray(q, 16)
    encoder.encodeFloat(angularVelocityX)
    encoder.encodeFloat(angularVelocityY)
    encoder.encodeFloat(angularVelocityZ)
    encoder.encodeBitmaskValue(deviceFlags.value, 2)
    encoder.encodeBitmaskValue(managerFlags.value, 2)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(targetComponent)
    encoder.encodeUInt8(gimbalId)
    encoder.encodeEnumValue(client.value, 1)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 36

    private const val SIZE_V2: Int = 36

    override val id: UInt = 60_012u

    override val crcExtra: Byte = 99

    override fun deserialize(bytes: ByteArray): Storm32GimbalManagerControl {
      val decoder = MavDataDecoder(bytes)

      val q = decoder.safeDecodeFloatArray(16)
      val angularVelocityX = decoder.safeDecodeFloat()
      val angularVelocityY = decoder.safeDecodeFloat()
      val angularVelocityZ = decoder.safeDecodeFloat()
      val deviceFlags = decoder.safeDecodeBitmaskValue(2).let { value ->
        val flags = GimbalDeviceFlags.getFlagsFromValue(value)
        if (flags.isNotEmpty()) MavBitmaskValue.of(flags) else MavBitmaskValue.fromValue(value)
      }
      val managerFlags = decoder.safeDecodeBitmaskValue(2).let { value ->
        val flags = MavStorm32GimbalManagerFlags.getFlagsFromValue(value)
        if (flags.isNotEmpty()) MavBitmaskValue.of(flags) else MavBitmaskValue.fromValue(value)
      }
      val targetSystem = decoder.safeDecodeUInt8()
      val targetComponent = decoder.safeDecodeUInt8()
      val gimbalId = decoder.safeDecodeUInt8()
      val client = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = MavStorm32GimbalManagerClient.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      return Storm32GimbalManagerControl(
        targetSystem = targetSystem,
        targetComponent = targetComponent,
        gimbalId = gimbalId,
        client = client,
        deviceFlags = deviceFlags,
        managerFlags = managerFlags,
        q = q,
        angularVelocityX = angularVelocityX,
        angularVelocityY = angularVelocityY,
        angularVelocityZ = angularVelocityZ,
      )
    }

    public operator fun invoke(builderAction: Builder.() -> Unit): Storm32GimbalManagerControl =
        Builder().apply(builderAction).build()
  }

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

    public var targetComponent: UByte = 0u

    public var gimbalId: UByte = 0u

    public var client: MavEnumValue = MavEnumValue.fromValue(0u)

    public var deviceFlags: MavBitmaskValue = MavBitmaskValue.fromValue(0u)

    public var managerFlags: MavBitmaskValue =
        MavBitmaskValue.fromValue(0u)

    public var q: List = emptyList()

    public var angularVelocityX: Float = 0F

    public var angularVelocityY: Float = 0F

    public var angularVelocityZ: Float = 0F

    public fun build(): Storm32GimbalManagerControl = Storm32GimbalManagerControl(
      targetSystem = targetSystem,
      targetComponent = targetComponent,
      gimbalId = gimbalId,
      client = client,
      deviceFlags = deviceFlags,
      managerFlags = managerFlags,
      q = q,
      angularVelocityX = angularVelocityX,
      angularVelocityY = angularVelocityY,
      angularVelocityZ = angularVelocityZ,
    )
  }
}