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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.decodeFloat
import com.divpundir.mavlink.serialization.decodeString
import com.divpundir.mavlink.serialization.decodeUInt8
import com.divpundir.mavlink.serialization.encodeEnumValue
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeString
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.String
import kotlin.UByte
import kotlin.UInt
import kotlin.Unit

/**
 * Set a parameter value (write new value to permanent storage).
 *         The receiving component should acknowledge the new parameter value by broadcasting a
 * PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all
 * parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should
 * re-send the PARAM_SET message. The parameter microservice is documented at
 * https://mavlink.io/en/services/parameter.html.
 *         PARAM_SET may also be called within the context of a transaction (started with
 * MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with
 * PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET
 * should be re-sent if this is ACK not received.
 */
@GeneratedMavMessage(
  id = 23u,
  crcExtra = -88,
)
public data class ParamSet(
  /**
   * System ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Component ID
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetComponent: UByte = 0u,
  /**
   * Onboard 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 = "",
  /**
   * Onboard parameter value
   */
  @GeneratedMavField(type = "float")
  public val paramValue: Float = 0F,
  /**
   * Onboard parameter type.
   */
  @GeneratedMavField(type = "uint8_t")
  public val paramType: MavEnumValue = MavEnumValue.fromValue(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.encodeFloat(paramValue)
    outputBuffer.encodeUInt8(targetSystem)
    outputBuffer.encodeUInt8(targetComponent)
    outputBuffer.encodeString(paramId, 16)
    outputBuffer.encodeEnumValue(paramType.value, 1)
    return outputBuffer.array()
  }

  public override fun serializeV2(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V2).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeFloat(paramValue)
    outputBuffer.encodeUInt8(targetSystem)
    outputBuffer.encodeUInt8(targetComponent)
    outputBuffer.encodeString(paramId, 16)
    outputBuffer.encodeEnumValue(paramType.value, 1)
    return outputBuffer.array().truncateZeros()
  }

  public companion object {
    private const val ID: UInt = 23u

    private const val CRC_EXTRA: Byte = -88

    private const val SIZE_V1: Int = 23

    private const val SIZE_V2: Int = 23

    private val DESERIALIZER: MavDeserializer = MavDeserializer { bytes ->
      val inputBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN)
      val paramValue = inputBuffer.decodeFloat()
      val targetSystem = inputBuffer.decodeUInt8()
      val targetComponent = inputBuffer.decodeUInt8()
      val paramId = inputBuffer.decodeString(16)
      val paramType = inputBuffer.decodeEnumValue(1).let { value ->
        val entry = MavParamType.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }

      ParamSet(
        targetSystem = targetSystem,
        targetComponent = targetComponent,
        paramId = paramId,
        paramValue = paramValue,
        paramType = paramType,
      )
    }


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

    public val classMetadata: MavMessage.Metadata = METADATA

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

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

    public var targetComponent: UByte = 0u

    public var paramId: String = ""

    public var paramValue: Float = 0F

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

    public fun build(): ParamSet = ParamSet(
      targetSystem = targetSystem,
      targetComponent = targetComponent,
      paramId = paramId,
      paramValue = paramValue,
      paramType = paramType,
    )
  }
}