path: root/mavlink-library/src/main/twirl/org/mavlink/messages/messages.scala.txt

@(__context: Context, __messages: Set[Message])@org.mavlink.txt._header(__context)
package org.mavlink.messages

import java.nio.ByteBuffer
import java.nio.ByteOrder
import java.nio.charset.Charset

@__scalaMessageType(message: Message) = {@StringUtils.Camelify(message.name)}

@__scalaFieldName(field: Field) = {@StringUtils.camelify(field.name)}

@__scalaFieldType(tpe: Type) = {@tpe match {
  case IntType(1, _) => {Byte}
  case IntType(2, _) => {Short}
  case IntType(4, _) => {Int}
  case IntType(8, _) => {Long}
  case FloatType(4) => {Float}
  case FloatType(8) => {Double}
  case StringType(_) => {String}
  case CharType => {Byte}
  case ArrayType(underlying, _) => {Seq[@__scalaFieldType(underlying)]}
  case t => {sys.error("unsupported type: " + @t)}
}}
@__scalaFieldFormal(field: Field) = {@__scalaFieldName(field): @__scalaFieldType(field.tpe)}

@__bufferReadMethod(buffer: String, tpe: Type) = {@tpe match {
  case IntType(1, _) => {@{buffer}.get()}
  case IntType(2, _) => {@{buffer}.getShort()}
  case IntType(4, _) => {@{buffer}.getInt()}
  case IntType(8, _) => {@{buffer}.getLong()}
  case FloatType(4) => {@{buffer}.getFloat()}
  case FloatType(8) => {@{buffer}.getDouble()}
  case StringType(maxLength) =>{{
    val bytes = new Array[Byte](@maxLength)
    @{buffer}.get(bytes, 0, @maxLength)
    val length = bytes.indexOf(0) match {
      case -1 => @maxLength
      case i => i
    }
    new String(bytes, 0, length, Charset.forName("UTF-8"))
  }}
  case CharType => {@{buffer}.get()}
  case ArrayType(underlying, length) => {for (i <- 0 until @length) yield {@__bufferReadMethod(buffer, underlying)}}
  case t => {sys.error("unsupported type: " + @t)}
}}
@__bufferWriteMethod(buffer: String, data: String, tpe: Type) = {@tpe match {
  case IntType(1, _) => {@{buffer}.put(@data)}
  case IntType(2, _) => {@{buffer}.putShort(@data)}
  case IntType(4, _) => {@{buffer}.putInt(@data)}
  case IntType(8, _) => {@{buffer}.putLong(@data)}
  case FloatType(4) => {@{buffer}.putFloat(@data)}
  case FloatType(8) => {@{buffer}.putDouble(@data)}
  case StringType(maxLength) => {
  {
    val bytes = @{data}.getBytes(Charset.forName("UTF-8"))
    val endPosition = @{buffer}.position + @maxLength
    @{buffer}.put(bytes, 0, math.min(bytes.length, @maxLength))
    while (@{buffer}.position < endPosition) {
      @{buffer}.put(0: Byte)
    }
  }}
  case CharType => {@{buffer}.put(@data)}
  case ArrayType(underlying, length) => {for (i <- 0 until @length) {@__bufferWriteMethod(buffer, data + "(i)", underlying)}}
  case t => {sys.error("unsupported type: " + @t)}
}}

@__commentParagraphs(paragraphs:  Seq[String]) = {@paragraphs.mkString("/**\n * ", "\n * ", "\n */")}
@__comment(message: Message) = {@__commentParagraphs(message.description.grouped(100).toList ++ message.fields.map(field => "@param " + __scalaFieldName(field) + " " + field.description))}

/** Marker trait for MAVLink messages. All supported messages extend this trait. */
sealed trait Message

@for(__msg <- __messages) {
@__comment(__msg)
case class @{__scalaMessageType(__msg)}(@__msg.fields.map(__scalaFieldFormal).mkString(", ")) extends Message
}

/**
 * Wraps an unknown message.
 * @@param id the ID of the message
 * @@param payload the message's contents
 */
case class Unknown(id: Byte, payload: Array[Byte]) extends Message

/**
 * Provides utility methods for converting data to and from MAVLink messages.
 */
object Message {

  /**
   * Interprets an ID and payload as a message. The contents must be ordered
   * according to the MAVLink specification.
   * @@param id ID of the message
   * @@param payload contents of the message
   * @@return payload interpreted as a message or 'Unknown' in case of an unknown ID
   */
  def unpack(id: Byte, payload: Array[Byte]): Message = {
    val buffer = ByteBuffer.wrap(payload)
    buffer.order(ByteOrder.LITTLE_ENDIAN)
    id match {
    @for(__msg <- __messages) {
      case @__msg.id =>
        @for(__field <- __msg.orderedFields) {val @__scalaFieldFormal(__field) = @__bufferReadMethod("buffer", __field.tpe)
        }
        @{__scalaMessageType(__msg)}(@__msg.fields.map(__scalaFieldName(_)).mkString(", "))
    }
      case u => Unknown(u, payload)
    }
  }

  /**
   * Encodes a message according to the MAVLink specification.
   * @@param message the message to write
   * @@return (id, payload) id and payload of the encoded message
   */
  def pack(message: Message): (Byte, Array[Byte]) = message match {
    @for(__msg <- __messages) {
      case m: @__scalaMessageType(__msg) =>
        val arr = new Array[Byte](@__msg.length)
        val buffer = ByteBuffer.wrap(arr)
	buffer.order(ByteOrder.LITTLE_ENDIAN)

        @for(__field <- __msg.orderedFields) {@__bufferWriteMethod("buffer", "m." + __scalaFieldName(__field), __field.tpe)
        }
        (@__msg.id, arr)
    }
    case u: Unknown =>
      (u.id, u.payload)
  }
}