commonMain.com.divpundir.mavlink.definitions.uavionix.UavionixAdsbOutDynamic.kt Maven / Gradle / Ivy

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package com.divpundir.mavlink.definitions.uavionix

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.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.encodeInt16
import com.divpundir.mavlink.serialization.encodeInt32
import com.divpundir.mavlink.serialization.encodeUInt16
import com.divpundir.mavlink.serialization.encodeUInt32
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeBitmaskValue
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
import com.divpundir.mavlink.serialization.safeDecodeInt16
import com.divpundir.mavlink.serialization.safeDecodeInt32
import com.divpundir.mavlink.serialization.safeDecodeUInt16
import com.divpundir.mavlink.serialization.safeDecodeUInt32
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

/**
 * Dynamic data used to generate ADS-B out transponder data (send at 5Hz)
 *
 * @param utctime UTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
 * units = s
 * @param gpslat Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
 * units = degE7
 * @param gpslon Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
 * units = degE7
 * @param gpsalt Altitude (WGS84). UP +ve. If unknown set to INT32_MAX
 * units = mm
 * @param gpsfix 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
 * @param numsats Number of satellites visible. If unknown set to UINT8_MAX
 * @param baroaltmsl Barometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2
 * mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
 * units = mbar
 * @param accuracyhor Horizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
 * units = mm
 * @param accuracyvert Vertical accuracy in cm. If unknown set to UINT16_MAX
 * units = cm
 * @param accuracyvel Velocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
 * units = mm/s
 * @param velvert GPS vertical speed in cm/s. If unknown set to INT16_MAX
 * units = cm/s
 * @param velns North-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
 * units = cm/s
 * @param velew East-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
 * units = cm/s
 * @param emergencystatus Emergency status
 * @param state ADS-B transponder dynamic input state flags
 * @param squawk Mode A code (typically 1200 [0x04B0] for VFR)
 */
@GeneratedMavMessage(
  id = 10_002u,
  crcExtra = -70,
)
public data class UavionixAdsbOutDynamic(
  /**
   * UTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
   * units = s
   */
  @GeneratedMavField(type = "uint32_t")
  public val utctime: UInt = 0u,
  /**
   * Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val gpslat: Int = 0,
  /**
   * Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val gpslon: Int = 0,
  /**
   * Altitude (WGS84). UP +ve. If unknown set to INT32_MAX
   * units = mm
   */
  @GeneratedMavField(type = "int32_t")
  public val gpsalt: Int = 0,
  /**
   * 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
   */
  @GeneratedMavField(type = "uint8_t")
  public val gpsfix: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * Number of satellites visible. If unknown set to UINT8_MAX
   */
  @GeneratedMavField(type = "uint8_t")
  public val numsats: UByte = 0u,
  /**
   * Barometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar
   * corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
   * units = mbar
   */
  @GeneratedMavField(type = "int32_t")
  public val baroaltmsl: Int = 0,
  /**
   * Horizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
   * units = mm
   */
  @GeneratedMavField(type = "uint32_t")
  public val accuracyhor: UInt = 0u,
  /**
   * Vertical accuracy in cm. If unknown set to UINT16_MAX
   * units = cm
   */
  @GeneratedMavField(type = "uint16_t")
  public val accuracyvert: UShort = 0u,
  /**
   * Velocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
   * units = mm/s
   */
  @GeneratedMavField(type = "uint16_t")
  public val accuracyvel: UShort = 0u,
  /**
   * GPS vertical speed in cm/s. If unknown set to INT16_MAX
   * units = cm/s
   */
  @GeneratedMavField(type = "int16_t")
  public val velvert: Short = 0,
  /**
   * North-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
   * units = cm/s
   */
  @GeneratedMavField(type = "int16_t")
  public val velns: Short = 0,
  /**
   * East-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
   * units = cm/s
   */
  @GeneratedMavField(type = "int16_t")
  public val velew: Short = 0,
  /**
   * Emergency status
   */
  @GeneratedMavField(type = "uint8_t")
  public val emergencystatus: MavEnumValue =
      MavEnumValue.fromValue(0u),
  /**
   * ADS-B transponder dynamic input state flags
   */
  @GeneratedMavField(type = "uint16_t")
  public val state: MavBitmaskValue = MavBitmaskValue.fromValue(0u),
  /**
   * Mode A code (typically 1200 [0x04B0] for VFR)
   */
  @GeneratedMavField(type = "uint16_t")
  public val squawk: UShort = 0u,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt32(utctime)
    encoder.encodeInt32(gpslat)
    encoder.encodeInt32(gpslon)
    encoder.encodeInt32(gpsalt)
    encoder.encodeInt32(baroaltmsl)
    encoder.encodeUInt32(accuracyhor)
    encoder.encodeUInt16(accuracyvert)
    encoder.encodeUInt16(accuracyvel)
    encoder.encodeInt16(velvert)
    encoder.encodeInt16(velns)
    encoder.encodeInt16(velew)
    encoder.encodeBitmaskValue(state.value, 2)
    encoder.encodeUInt16(squawk)
    encoder.encodeEnumValue(gpsfix.value, 1)
    encoder.encodeUInt8(numsats)
    encoder.encodeEnumValue(emergencystatus.value, 1)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt32(utctime)
    encoder.encodeInt32(gpslat)
    encoder.encodeInt32(gpslon)
    encoder.encodeInt32(gpsalt)
    encoder.encodeInt32(baroaltmsl)
    encoder.encodeUInt32(accuracyhor)
    encoder.encodeUInt16(accuracyvert)
    encoder.encodeUInt16(accuracyvel)
    encoder.encodeInt16(velvert)
    encoder.encodeInt16(velns)
    encoder.encodeInt16(velew)
    encoder.encodeBitmaskValue(state.value, 2)
    encoder.encodeUInt16(squawk)
    encoder.encodeEnumValue(gpsfix.value, 1)
    encoder.encodeUInt8(numsats)
    encoder.encodeEnumValue(emergencystatus.value, 1)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 41

    private const val SIZE_V2: Int = 41

    override val id: UInt = 10_002u

    override val crcExtra: Byte = -70

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

      val utctime = decoder.safeDecodeUInt32()
      val gpslat = decoder.safeDecodeInt32()
      val gpslon = decoder.safeDecodeInt32()
      val gpsalt = decoder.safeDecodeInt32()
      val baroaltmsl = decoder.safeDecodeInt32()
      val accuracyhor = decoder.safeDecodeUInt32()
      val accuracyvert = decoder.safeDecodeUInt16()
      val accuracyvel = decoder.safeDecodeUInt16()
      val velvert = decoder.safeDecodeInt16()
      val velns = decoder.safeDecodeInt16()
      val velew = decoder.safeDecodeInt16()
      val state = decoder.safeDecodeBitmaskValue(2).let { value ->
        val flags = UavionixAdsbOutDynamicState.getFlagsFromValue(value)
        if (flags.isNotEmpty()) MavBitmaskValue.of(flags) else MavBitmaskValue.fromValue(value)
      }
      val squawk = decoder.safeDecodeUInt16()
      val gpsfix = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = UavionixAdsbOutDynamicGpsFix.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }
      val numsats = decoder.safeDecodeUInt8()
      val emergencystatus = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = UavionixAdsbEmergencyStatus.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      return UavionixAdsbOutDynamic(
        utctime = utctime,
        gpslat = gpslat,
        gpslon = gpslon,
        gpsalt = gpsalt,
        gpsfix = gpsfix,
        numsats = numsats,
        baroaltmsl = baroaltmsl,
        accuracyhor = accuracyhor,
        accuracyvert = accuracyvert,
        accuracyvel = accuracyvel,
        velvert = velvert,
        velns = velns,
        velew = velew,
        emergencystatus = emergencystatus,
        state = state,
        squawk = squawk,
      )
    }

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

  public class Builder {
    public var utctime: UInt = 0u

    public var gpslat: Int = 0

    public var gpslon: Int = 0

    public var gpsalt: Int = 0

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

    public var numsats: UByte = 0u

    public var baroaltmsl: Int = 0

    public var accuracyhor: UInt = 0u

    public var accuracyvert: UShort = 0u

    public var accuracyvel: UShort = 0u

    public var velvert: Short = 0

    public var velns: Short = 0

    public var velew: Short = 0

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

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

    public var squawk: UShort = 0u

    public fun build(): UavionixAdsbOutDynamic = UavionixAdsbOutDynamic(
      utctime = utctime,
      gpslat = gpslat,
      gpslon = gpslon,
      gpsalt = gpsalt,
      gpsfix = gpsfix,
      numsats = numsats,
      baroaltmsl = baroaltmsl,
      accuracyhor = accuracyhor,
      accuracyvert = accuracyvert,
      accuracyvel = accuracyvel,
      velvert = velvert,
      velns = velns,
      velew = velew,
      emergencystatus = emergencystatus,
      state = state,
      squawk = squawk,
    )
  }
}