main.com.divpundir.mavlink.definitions.common.ManualSetpoint.kt Maven / Gradle / Ivy

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A modern MAVLink library for the JVM written in Kotlin.
There is a newer version: 1.2.8
package com.divpundir.mavlink.definitions.common

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
import com.divpundir.mavlink.api.MavDeserializer
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.decodeFloat
import com.divpundir.mavlink.serialization.decodeUInt32
import com.divpundir.mavlink.serialization.decodeUInt8
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeUInt32
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.truncateZeros
import java.nio.ByteBuffer
import java.nio.ByteOrder
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit

/**
 * Setpoint in roll, pitch, yaw and thrust from the operator
 */
@GeneratedMavMessage(
  id = 81u,
  crcExtra = 106,
)
public data class ManualSetpoint(
  /**
   * Timestamp (time since system boot).
   */
  @GeneratedMavField(type = "uint32_t")
  public val timeBootMs: UInt = 0u,
  /**
   * Desired roll rate
   */
  @GeneratedMavField(type = "float")
  public val roll: Float = 0F,
  /**
   * Desired pitch rate
   */
  @GeneratedMavField(type = "float")
  public val pitch: Float = 0F,
  /**
   * Desired yaw rate
   */
  @GeneratedMavField(type = "float")
  public val yaw: Float = 0F,
  /**
   * Collective thrust, normalized to 0 .. 1
   */
  @GeneratedMavField(type = "float")
  public val thrust: Float = 0F,
  /**
   * Flight mode switch position, 0.. 255
   */
  @GeneratedMavField(type = "uint8_t")
  public val modeSwitch: UByte = 0u,
  /**
   * Override mode switch position, 0.. 255
   */
  @GeneratedMavField(type = "uint8_t")
  public val manualOverrideSwitch: UByte = 0u,
) : MavMessage {
  public override val instanceMetadata: MavMessage.Metadata = METADATA

  public override fun serializeV1(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V1).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeUInt32(timeBootMs)
    outputBuffer.encodeFloat(roll)
    outputBuffer.encodeFloat(pitch)
    outputBuffer.encodeFloat(yaw)
    outputBuffer.encodeFloat(thrust)
    outputBuffer.encodeUInt8(modeSwitch)
    outputBuffer.encodeUInt8(manualOverrideSwitch)
    return outputBuffer.array()
  }

  public override fun serializeV2(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V2).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeUInt32(timeBootMs)
    outputBuffer.encodeFloat(roll)
    outputBuffer.encodeFloat(pitch)
    outputBuffer.encodeFloat(yaw)
    outputBuffer.encodeFloat(thrust)
    outputBuffer.encodeUInt8(modeSwitch)
    outputBuffer.encodeUInt8(manualOverrideSwitch)
    return outputBuffer.array().truncateZeros()
  }

  public companion object {
    private const val ID: UInt = 81u

    private const val CRC_EXTRA: Byte = 106

    private const val SIZE_V1: Int = 22

    private const val SIZE_V2: Int = 22

    private val DESERIALIZER: MavDeserializer = MavDeserializer { bytes ->
      val inputBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN)
      val timeBootMs = inputBuffer.decodeUInt32()
      val roll = inputBuffer.decodeFloat()
      val pitch = inputBuffer.decodeFloat()
      val yaw = inputBuffer.decodeFloat()
      val thrust = inputBuffer.decodeFloat()
      val modeSwitch = inputBuffer.decodeUInt8()
      val manualOverrideSwitch = inputBuffer.decodeUInt8()

      ManualSetpoint(
        timeBootMs = timeBootMs,
        roll = roll,
        pitch = pitch,
        yaw = yaw,
        thrust = thrust,
        modeSwitch = modeSwitch,
        manualOverrideSwitch = manualOverrideSwitch,
      )
    }


    private val METADATA: MavMessage.Metadata = MavMessage.Metadata(ID, CRC_EXTRA,
        DESERIALIZER)

    public val classMetadata: MavMessage.Metadata = METADATA

    public fun builder(builderAction: Builder.() -> Unit): ManualSetpoint =
        Builder().apply(builderAction).build()
  }

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

    public var roll: Float = 0F

    public var pitch: Float = 0F

    public var yaw: Float = 0F

    public var thrust: Float = 0F

    public var modeSwitch: UByte = 0u

    public var manualOverrideSwitch: UByte = 0u

    public fun build(): ManualSetpoint = ManualSetpoint(
      timeBootMs = timeBootMs,
      roll = roll,
      pitch = pitch,
      yaw = yaw,
      thrust = thrust,
      modeSwitch = modeSwitch,
      manualOverrideSwitch = manualOverrideSwitch,
    )
  }
}