main.com.divpundir.mavlink.definitions.common.ParamExtValue.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.MavEnumValue
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.decodeEnumValue
import com.divpundir.mavlink.serialization.decodeString
import com.divpundir.mavlink.serialization.decodeUInt16
import com.divpundir.mavlink.serialization.encodeEnumValue
import com.divpundir.mavlink.serialization.encodeString
import com.divpundir.mavlink.serialization.encodeUInt16
import com.divpundir.mavlink.serialization.truncateZeros
import java.nio.ByteBuffer
import java.nio.ByteOrder
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Int
import kotlin.String
import kotlin.UInt
import kotlin.UShort
import kotlin.Unit

/**
 * Emit the value of a parameter. The inclusion of param_count and param_index in the message allows
 * the recipient to keep track of received parameters and allows them to re-request missing parameters
 * after a loss or timeout.
 */
@GeneratedMavMessage(
  id = 322u,
  crcExtra = -13,
)
public data class ParamExtValue(
  /**
   * 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 value
   */
  @GeneratedMavField(type = "char[128]")
  public val paramValue: String = "",
  /**
   * Parameter type.
   */
  @GeneratedMavField(type = "uint8_t")
  public val paramType: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * Total number of parameters
   */
  @GeneratedMavField(type = "uint16_t")
  public val paramCount: UShort = 0u,
  /**
   * Index of this parameter
   */
  @GeneratedMavField(type = "uint16_t")
  public val paramIndex: UShort = 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.encodeUInt16(paramCount)
    outputBuffer.encodeUInt16(paramIndex)
    outputBuffer.encodeString(paramId, 16)
    outputBuffer.encodeString(paramValue, 128)
    outputBuffer.encodeEnumValue(paramType.value, 1)
    return outputBuffer.array()
  }

  public override fun serializeV2(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V2).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeUInt16(paramCount)
    outputBuffer.encodeUInt16(paramIndex)
    outputBuffer.encodeString(paramId, 16)
    outputBuffer.encodeString(paramValue, 128)
    outputBuffer.encodeEnumValue(paramType.value, 1)
    return outputBuffer.array().truncateZeros()
  }

  public companion object {
    private const val ID: UInt = 322u

    private const val CRC_EXTRA: Byte = -13

    private const val SIZE_V1: Int = 149

    private const val SIZE_V2: Int = 149

    private val DESERIALIZER: MavDeserializer = MavDeserializer { bytes ->
      val inputBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN)
      val paramCount = inputBuffer.decodeUInt16()
      val paramIndex = inputBuffer.decodeUInt16()
      val paramId = inputBuffer.decodeString(16)
      val paramValue = inputBuffer.decodeString(128)
      val paramType = inputBuffer.decodeEnumValue(1).let { value ->
        val entry = MavParamExtType.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      ParamExtValue(
        paramId = paramId,
        paramValue = paramValue,
        paramType = paramType,
        paramCount = paramCount,
        paramIndex = paramIndex,
      )
    }


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

    public val classMetadata: MavMessage.Metadata = METADATA

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

  public class Builder {
    public var paramId: String = ""

    public var paramValue: String = ""

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

    public var paramCount: UShort = 0u

    public var paramIndex: UShort = 0u

    public fun build(): ParamExtValue = ParamExtValue(
      paramId = paramId,
      paramValue = paramValue,
      paramType = paramType,
      paramCount = paramCount,
      paramIndex = paramIndex,
    )
  }
}