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

Go to download
Show more of this group Show more artifacts with this name
Show all versions of definitions Show documentation
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.MavBitmaskValue
import com.divpundir.mavlink.api.MavDeserializer
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.decodeBitmaskValue
import com.divpundir.mavlink.serialization.decodeFloat
import com.divpundir.mavlink.serialization.decodeUInt16
import com.divpundir.mavlink.serialization.decodeUInt32
import com.divpundir.mavlink.serialization.decodeUInt8
import com.divpundir.mavlink.serialization.encodeBitmaskValue
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeUInt16
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.UShort
import kotlin.Unit

/**
 * Information about the status of a video stream. It may be requested using
 * MAV_CMD_REQUEST_MESSAGE.
 */
@GeneratedMavMessage(
  id = 270u,
  crcExtra = 59,
)
public data class VideoStreamStatus(
  /**
   * Video Stream ID (1 for first, 2 for second, etc.)
   */
  @GeneratedMavField(type = "uint8_t")
  public val streamId: UByte = 0u,
  /**
   * Bitmap of stream status flags
   */
  @GeneratedMavField(type = "uint16_t")
  public val flags: MavBitmaskValue = MavBitmaskValue.fromValue(0u),
  /**
   * Frame rate
   */
  @GeneratedMavField(type = "float")
  public val framerate: Float = 0F,
  /**
   * Horizontal resolution
   */
  @GeneratedMavField(type = "uint16_t")
  public val resolutionH: UShort = 0u,
  /**
   * Vertical resolution
   */
  @GeneratedMavField(type = "uint16_t")
  public val resolutionV: UShort = 0u,
  /**
   * Bit rate
   */
  @GeneratedMavField(type = "uint32_t")
  public val bitrate: UInt = 0u,
  /**
   * Video image rotation clockwise
   */
  @GeneratedMavField(type = "uint16_t")
  public val rotation: UShort = 0u,
  /**
   * Horizontal Field of view
   */
  @GeneratedMavField(type = "uint16_t")
  public val hfov: 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.encodeFloat(framerate)
    outputBuffer.encodeUInt32(bitrate)
    outputBuffer.encodeBitmaskValue(flags.value, 2)
    outputBuffer.encodeUInt16(resolutionH)
    outputBuffer.encodeUInt16(resolutionV)
    outputBuffer.encodeUInt16(rotation)
    outputBuffer.encodeUInt16(hfov)
    outputBuffer.encodeUInt8(streamId)
    return outputBuffer.array()
  }

  public override fun serializeV2(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V2).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeFloat(framerate)
    outputBuffer.encodeUInt32(bitrate)
    outputBuffer.encodeBitmaskValue(flags.value, 2)
    outputBuffer.encodeUInt16(resolutionH)
    outputBuffer.encodeUInt16(resolutionV)
    outputBuffer.encodeUInt16(rotation)
    outputBuffer.encodeUInt16(hfov)
    outputBuffer.encodeUInt8(streamId)
    return outputBuffer.array().truncateZeros()
  }

  public companion object {
    private const val ID: UInt = 270u

    private const val CRC_EXTRA: Byte = 59

    private const val SIZE_V1: Int = 19

    private const val SIZE_V2: Int = 19

    private val DESERIALIZER: MavDeserializer = MavDeserializer { bytes ->
      val inputBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN)
      val framerate = inputBuffer.decodeFloat()
      val bitrate = inputBuffer.decodeUInt32()
      val flags = inputBuffer.decodeBitmaskValue(2).let { value ->
        val flags = VideoStreamStatusFlags.getFlagsFromValue(value)
        if (flags.isNotEmpty()) MavBitmaskValue.of(flags) else MavBitmaskValue.fromValue(value)
      }
      val resolutionH = inputBuffer.decodeUInt16()
      val resolutionV = inputBuffer.decodeUInt16()
      val rotation = inputBuffer.decodeUInt16()
      val hfov = inputBuffer.decodeUInt16()
      val streamId = inputBuffer.decodeUInt8()

      VideoStreamStatus(
        streamId = streamId,
        flags = flags,
        framerate = framerate,
        resolutionH = resolutionH,
        resolutionV = resolutionV,
        bitrate = bitrate,
        rotation = rotation,
        hfov = hfov,
      )
    }


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

    public val classMetadata: MavMessage.Metadata = METADATA

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

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

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

    public var framerate: Float = 0F

    public var resolutionH: UShort = 0u

    public var resolutionV: UShort = 0u

    public var bitrate: UInt = 0u

    public var rotation: UShort = 0u

    public var hfov: UShort = 0u

    public fun build(): VideoStreamStatus = VideoStreamStatus(
      streamId = streamId,
      flags = flags,
      framerate = framerate,
      resolutionH = resolutionH,
      resolutionV = resolutionV,
      bitrate = bitrate,
      rotation = rotation,
      hfov = hfov,
    )
  }
}