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A modern MAVLink library for the JVM written in Kotlin.

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package com.divpundir.mavlink.definitions.ardupilotmega

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
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.encodeEnumValue
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.encodeInt32
import com.divpundir.mavlink.serialization.encodeUInt16
import com.divpundir.mavlink.serialization.encodeUInt64
import com.divpundir.mavlink.serialization.encodeUInt8
import com.divpundir.mavlink.serialization.safeDecodeEnumValue
import com.divpundir.mavlink.serialization.safeDecodeFloat
import com.divpundir.mavlink.serialization.safeDecodeInt32
import com.divpundir.mavlink.serialization.safeDecodeUInt16
import com.divpundir.mavlink.serialization.safeDecodeUInt64
import com.divpundir.mavlink.serialization.safeDecodeUInt8
import com.divpundir.mavlink.serialization.truncateZeros
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UByte
import kotlin.UInt
import kotlin.ULong
import kotlin.UShort
import kotlin.Unit

/**
 * Camera Capture Feedback.
 *
 * @param timeUsec Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or
 * autopilot if no CCB).
 * units = us
 * @param targetSystem System ID.
 * @param camIdx Camera ID.
 * @param imgIdx Image index.
 * @param lat Latitude.
 * units = degE7
 * @param lng Longitude.
 * units = degE7
 * @param altMsl Altitude (MSL).
 * units = m
 * @param altRel Altitude (Relative to HOME location).
 * units = m
 * @param roll Camera Roll angle (earth frame, +-180).
 * units = deg
 * @param pitch Camera Pitch angle (earth frame, +-180).
 * units = deg
 * @param yaw Camera Yaw (earth frame, 0-360, true).
 * units = deg
 * @param focLen Focal Length.
 * units = mm
 * @param flags Feedback flags.
 * @param completedCaptures Completed image captures.
 */
@GeneratedMavMessage(
  id = 180u,
  crcExtra = 52,
)
public data class CameraFeedback(
  /**
   * Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no
   * CCB).
   * units = us
   */
  @GeneratedMavField(type = "uint64_t")
  public val timeUsec: ULong = 0uL,
  /**
   * System ID.
   */
  @GeneratedMavField(type = "uint8_t")
  public val targetSystem: UByte = 0u,
  /**
   * Camera ID.
   */
  @GeneratedMavField(type = "uint8_t")
  public val camIdx: UByte = 0u,
  /**
   * Image index.
   */
  @GeneratedMavField(type = "uint16_t")
  public val imgIdx: UShort = 0u,
  /**
   * Latitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val lat: Int = 0,
  /**
   * Longitude.
   * units = degE7
   */
  @GeneratedMavField(type = "int32_t")
  public val lng: Int = 0,
  /**
   * Altitude (MSL).
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val altMsl: Float = 0F,
  /**
   * Altitude (Relative to HOME location).
   * units = m
   */
  @GeneratedMavField(type = "float")
  public val altRel: Float = 0F,
  /**
   * Camera Roll angle (earth frame, +-180).
   * units = deg
   */
  @GeneratedMavField(type = "float")
  public val roll: Float = 0F,
  /**
   * Camera Pitch angle (earth frame, +-180).
   * units = deg
   */
  @GeneratedMavField(type = "float")
  public val pitch: Float = 0F,
  /**
   * Camera Yaw (earth frame, 0-360, true).
   * units = deg
   */
  @GeneratedMavField(type = "float")
  public val yaw: Float = 0F,
  /**
   * Focal Length.
   * units = mm
   */
  @GeneratedMavField(type = "float")
  public val focLen: Float = 0F,
  /**
   * Feedback flags.
   */
  @GeneratedMavField(type = "uint8_t")
  public val flags: MavEnumValue = MavEnumValue.fromValue(0u),
  /**
   * Completed image captures.
   */
  @GeneratedMavField(
    type = "uint16_t",
    extension = true,
  )
  public val completedCaptures: UShort = 0u,
) : MavMessage {
  override val instanceCompanion: MavMessage.MavCompanion = Companion

  override fun serializeV1(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V1)
    encoder.encodeUInt64(timeUsec)
    encoder.encodeInt32(lat)
    encoder.encodeInt32(lng)
    encoder.encodeFloat(altMsl)
    encoder.encodeFloat(altRel)
    encoder.encodeFloat(roll)
    encoder.encodeFloat(pitch)
    encoder.encodeFloat(yaw)
    encoder.encodeFloat(focLen)
    encoder.encodeUInt16(imgIdx)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(camIdx)
    encoder.encodeEnumValue(flags.value, 1)
    return encoder.bytes
  }

  override fun serializeV2(): ByteArray {
    val encoder = MavDataEncoder(SIZE_V2)
    encoder.encodeUInt64(timeUsec)
    encoder.encodeInt32(lat)
    encoder.encodeInt32(lng)
    encoder.encodeFloat(altMsl)
    encoder.encodeFloat(altRel)
    encoder.encodeFloat(roll)
    encoder.encodeFloat(pitch)
    encoder.encodeFloat(yaw)
    encoder.encodeFloat(focLen)
    encoder.encodeUInt16(imgIdx)
    encoder.encodeUInt8(targetSystem)
    encoder.encodeUInt8(camIdx)
    encoder.encodeEnumValue(flags.value, 1)
    encoder.encodeUInt16(completedCaptures)
    return encoder.bytes.truncateZeros()
  }

  public companion object : MavMessage.MavCompanion {
    private const val SIZE_V1: Int = 45

    private const val SIZE_V2: Int = 47

    override val id: UInt = 180u

    override val crcExtra: Byte = 52

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

      val timeUsec = decoder.safeDecodeUInt64()
      val lat = decoder.safeDecodeInt32()
      val lng = decoder.safeDecodeInt32()
      val altMsl = decoder.safeDecodeFloat()
      val altRel = decoder.safeDecodeFloat()
      val roll = decoder.safeDecodeFloat()
      val pitch = decoder.safeDecodeFloat()
      val yaw = decoder.safeDecodeFloat()
      val focLen = decoder.safeDecodeFloat()
      val imgIdx = decoder.safeDecodeUInt16()
      val targetSystem = decoder.safeDecodeUInt8()
      val camIdx = decoder.safeDecodeUInt8()
      val flags = decoder.safeDecodeEnumValue(1).let { value ->
        val entry = CameraFeedbackFlags.getEntryFromValueOrNull(value)
        if (entry != null) MavEnumValue.of(entry) else MavEnumValue.fromValue(value)
      }
      val completedCaptures = decoder.safeDecodeUInt16()

      return CameraFeedback(
        timeUsec = timeUsec,
        targetSystem = targetSystem,
        camIdx = camIdx,
        imgIdx = imgIdx,
        lat = lat,
        lng = lng,
        altMsl = altMsl,
        altRel = altRel,
        roll = roll,
        pitch = pitch,
        yaw = yaw,
        focLen = focLen,
        flags = flags,
        completedCaptures = completedCaptures,
      )
    }

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

  public class Builder {
    public var timeUsec: ULong = 0uL

    public var targetSystem: UByte = 0u

    public var camIdx: UByte = 0u

    public var imgIdx: UShort = 0u

    public var lat: Int = 0

    public var lng: Int = 0

    public var altMsl: Float = 0F

    public var altRel: Float = 0F

    public var roll: Float = 0F

    public var pitch: Float = 0F

    public var yaw: Float = 0F

    public var focLen: Float = 0F

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

    public var completedCaptures: UShort = 0u

    public fun build(): CameraFeedback = CameraFeedback(
      timeUsec = timeUsec,
      targetSystem = targetSystem,
      camIdx = camIdx,
      imgIdx = imgIdx,
      lat = lat,
      lng = lng,
      altMsl = altMsl,
      altRel = altRel,
      roll = roll,
      pitch = pitch,
      yaw = yaw,
      focLen = focLen,
      flags = flags,
      completedCaptures = completedCaptures,
    )
  }
}




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