data_sensor.h

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#pragma once
 
#include <mip/definitions/common.h>
#include <mip/mip_descriptors.h>
#include <mip/mip_result.h>
#include <mip/mip_interface.h>
 
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
 
#ifdef __cplusplus
namespace mip {
namespace C {
extern "C" {
 
#endif // __cplusplus
 
 
// Descriptors
 
enum 
{
    MIP_SENSOR_DATA_DESC_SET                            = 0x80,
    
    MIP_DATA_DESC_SENSOR_ACCEL_RAW                      = 0x01,
    MIP_DATA_DESC_SENSOR_GYRO_RAW                       = 0x02,
    MIP_DATA_DESC_SENSOR_MAG_RAW                        = 0x03,
    MIP_DATA_DESC_SENSOR_ACCEL_SCALED                   = 0x04,
    MIP_DATA_DESC_SENSOR_GYRO_SCALED                    = 0x05,
    MIP_DATA_DESC_SENSOR_MAG_SCALED                     = 0x06,
    MIP_DATA_DESC_SENSOR_DELTA_THETA                    = 0x07,
    MIP_DATA_DESC_SENSOR_DELTA_VELOCITY                 = 0x08,
    MIP_DATA_DESC_SENSOR_COMP_ORIENTATION_MATRIX        = 0x09,
    MIP_DATA_DESC_SENSOR_COMP_QUATERNION                = 0x0A,
    MIP_DATA_DESC_SENSOR_COMP_ORIENTATION_UPDATE_MATRIX = 0x0B,
    MIP_DATA_DESC_SENSOR_COMP_EULER_ANGLES              = 0x0C,
    MIP_DATA_DESC_SENSOR_TEMPERATURE_RAW                = 0x0D,
    MIP_DATA_DESC_SENSOR_TIME_STAMP_INTERNAL            = 0x0E,
    MIP_DATA_DESC_SENSOR_TIME_STAMP_PPS                 = 0x0F,
    MIP_DATA_DESC_SENSOR_STAB_MAG                       = 0x10,
    MIP_DATA_DESC_SENSOR_STAB_ACCEL                     = 0x11,
    MIP_DATA_DESC_SENSOR_TIME_STAMP_GPS                 = 0x12,
    MIP_DATA_DESC_SENSOR_TEMPERATURE_ABS                = 0x14,
    MIP_DATA_DESC_SENSOR_RAW_CLIP_DATA                  = 0x15,
    MIP_DATA_DESC_SENSOR_PRESSURE_RAW                   = 0x16,
    MIP_DATA_DESC_SENSOR_PRESSURE_SCALED                = 0x17,
    MIP_DATA_DESC_SENSOR_OVERRANGE_STATUS               = 0x18,
    MIP_DATA_DESC_SENSOR_ODOMETER                       = 0x40,
    
    MIP_DATA_DESC_ASPP                                  = 0x81,
    MIP_DATA_DESC_GXSB                                  = 0x82,
};
 
// Shared Type Definitions
 
 
// Mip Fields
 
 
struct mip_sensor_raw_accel_data
{
    mip_vector3f raw_accel; 
};
typedef struct mip_sensor_raw_accel_data mip_sensor_raw_accel_data;
 
void insert_mip_sensor_raw_accel_data(microstrain_serializer* serializer, const mip_sensor_raw_accel_data* self);
void extract_mip_sensor_raw_accel_data(microstrain_serializer* serializer, mip_sensor_raw_accel_data* self);
bool extract_mip_sensor_raw_accel_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_raw_gyro_data
{
    mip_vector3f raw_gyro; 
};
typedef struct mip_sensor_raw_gyro_data mip_sensor_raw_gyro_data;
 
void insert_mip_sensor_raw_gyro_data(microstrain_serializer* serializer, const mip_sensor_raw_gyro_data* self);
void extract_mip_sensor_raw_gyro_data(microstrain_serializer* serializer, mip_sensor_raw_gyro_data* self);
bool extract_mip_sensor_raw_gyro_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_raw_mag_data
{
    mip_vector3f raw_mag; 
};
typedef struct mip_sensor_raw_mag_data mip_sensor_raw_mag_data;
 
void insert_mip_sensor_raw_mag_data(microstrain_serializer* serializer, const mip_sensor_raw_mag_data* self);
void extract_mip_sensor_raw_mag_data(microstrain_serializer* serializer, mip_sensor_raw_mag_data* self);
bool extract_mip_sensor_raw_mag_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_raw_pressure_data
{
    float raw_pressure; 
};
typedef struct mip_sensor_raw_pressure_data mip_sensor_raw_pressure_data;
 
void insert_mip_sensor_raw_pressure_data(microstrain_serializer* serializer, const mip_sensor_raw_pressure_data* self);
void extract_mip_sensor_raw_pressure_data(microstrain_serializer* serializer, mip_sensor_raw_pressure_data* self);
bool extract_mip_sensor_raw_pressure_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_scaled_accel_data
{
    mip_vector3f scaled_accel; 
};
typedef struct mip_sensor_scaled_accel_data mip_sensor_scaled_accel_data;
 
void insert_mip_sensor_scaled_accel_data(microstrain_serializer* serializer, const mip_sensor_scaled_accel_data* self);
void extract_mip_sensor_scaled_accel_data(microstrain_serializer* serializer, mip_sensor_scaled_accel_data* self);
bool extract_mip_sensor_scaled_accel_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_scaled_gyro_data
{
    mip_vector3f scaled_gyro; 
};
typedef struct mip_sensor_scaled_gyro_data mip_sensor_scaled_gyro_data;
 
void insert_mip_sensor_scaled_gyro_data(microstrain_serializer* serializer, const mip_sensor_scaled_gyro_data* self);
void extract_mip_sensor_scaled_gyro_data(microstrain_serializer* serializer, mip_sensor_scaled_gyro_data* self);
bool extract_mip_sensor_scaled_gyro_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_scaled_mag_data
{
    mip_vector3f scaled_mag; 
};
typedef struct mip_sensor_scaled_mag_data mip_sensor_scaled_mag_data;
 
void insert_mip_sensor_scaled_mag_data(microstrain_serializer* serializer, const mip_sensor_scaled_mag_data* self);
void extract_mip_sensor_scaled_mag_data(microstrain_serializer* serializer, mip_sensor_scaled_mag_data* self);
bool extract_mip_sensor_scaled_mag_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_scaled_pressure_data
{
    float scaled_pressure; 
};
typedef struct mip_sensor_scaled_pressure_data mip_sensor_scaled_pressure_data;
 
void insert_mip_sensor_scaled_pressure_data(microstrain_serializer* serializer, const mip_sensor_scaled_pressure_data* self);
void extract_mip_sensor_scaled_pressure_data(microstrain_serializer* serializer, mip_sensor_scaled_pressure_data* self);
bool extract_mip_sensor_scaled_pressure_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_delta_theta_data
{
    mip_vector3f delta_theta; 
};
typedef struct mip_sensor_delta_theta_data mip_sensor_delta_theta_data;
 
void insert_mip_sensor_delta_theta_data(microstrain_serializer* serializer, const mip_sensor_delta_theta_data* self);
void extract_mip_sensor_delta_theta_data(microstrain_serializer* serializer, mip_sensor_delta_theta_data* self);
bool extract_mip_sensor_delta_theta_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_delta_velocity_data
{
    mip_vector3f delta_velocity; 
};
typedef struct mip_sensor_delta_velocity_data mip_sensor_delta_velocity_data;
 
void insert_mip_sensor_delta_velocity_data(microstrain_serializer* serializer, const mip_sensor_delta_velocity_data* self);
void extract_mip_sensor_delta_velocity_data(microstrain_serializer* serializer, mip_sensor_delta_velocity_data* self);
bool extract_mip_sensor_delta_velocity_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_comp_orientation_matrix_data
{
    mip_matrix3f m; 
};
typedef struct mip_sensor_comp_orientation_matrix_data mip_sensor_comp_orientation_matrix_data;
 
void insert_mip_sensor_comp_orientation_matrix_data(microstrain_serializer* serializer, const mip_sensor_comp_orientation_matrix_data* self);
void extract_mip_sensor_comp_orientation_matrix_data(microstrain_serializer* serializer, mip_sensor_comp_orientation_matrix_data* self);
bool extract_mip_sensor_comp_orientation_matrix_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_comp_quaternion_data
{
    mip_quatf q; 
};
typedef struct mip_sensor_comp_quaternion_data mip_sensor_comp_quaternion_data;
 
void insert_mip_sensor_comp_quaternion_data(microstrain_serializer* serializer, const mip_sensor_comp_quaternion_data* self);
void extract_mip_sensor_comp_quaternion_data(microstrain_serializer* serializer, mip_sensor_comp_quaternion_data* self);
bool extract_mip_sensor_comp_quaternion_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_comp_euler_angles_data
{
    float roll; 
    float pitch; 
    float yaw; 
};
typedef struct mip_sensor_comp_euler_angles_data mip_sensor_comp_euler_angles_data;
 
void insert_mip_sensor_comp_euler_angles_data(microstrain_serializer* serializer, const mip_sensor_comp_euler_angles_data* self);
void extract_mip_sensor_comp_euler_angles_data(microstrain_serializer* serializer, mip_sensor_comp_euler_angles_data* self);
bool extract_mip_sensor_comp_euler_angles_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_comp_orientation_update_matrix_data
{
    mip_matrix3f m;
};
typedef struct mip_sensor_comp_orientation_update_matrix_data mip_sensor_comp_orientation_update_matrix_data;
 
void insert_mip_sensor_comp_orientation_update_matrix_data(microstrain_serializer* serializer, const mip_sensor_comp_orientation_update_matrix_data* self);
void extract_mip_sensor_comp_orientation_update_matrix_data(microstrain_serializer* serializer, mip_sensor_comp_orientation_update_matrix_data* self);
bool extract_mip_sensor_comp_orientation_update_matrix_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_orientation_raw_temp_data
{
    uint16_t raw_temp[4];
};
typedef struct mip_sensor_orientation_raw_temp_data mip_sensor_orientation_raw_temp_data;
 
void insert_mip_sensor_orientation_raw_temp_data(microstrain_serializer* serializer, const mip_sensor_orientation_raw_temp_data* self);
void extract_mip_sensor_orientation_raw_temp_data(microstrain_serializer* serializer, mip_sensor_orientation_raw_temp_data* self);
bool extract_mip_sensor_orientation_raw_temp_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_internal_timestamp_data
{
    uint32_t counts;
};
typedef struct mip_sensor_internal_timestamp_data mip_sensor_internal_timestamp_data;
 
void insert_mip_sensor_internal_timestamp_data(microstrain_serializer* serializer, const mip_sensor_internal_timestamp_data* self);
void extract_mip_sensor_internal_timestamp_data(microstrain_serializer* serializer, mip_sensor_internal_timestamp_data* self);
bool extract_mip_sensor_internal_timestamp_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_pps_timestamp_data
{
    uint32_t seconds;
    uint32_t useconds;
};
typedef struct mip_sensor_pps_timestamp_data mip_sensor_pps_timestamp_data;
 
void insert_mip_sensor_pps_timestamp_data(microstrain_serializer* serializer, const mip_sensor_pps_timestamp_data* self);
void extract_mip_sensor_pps_timestamp_data(microstrain_serializer* serializer, mip_sensor_pps_timestamp_data* self);
bool extract_mip_sensor_pps_timestamp_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
typedef uint16_t mip_sensor_gps_timestamp_data_valid_flags;
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_NONE              = 0x0000;
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_PPS_VALID         = 0x0001; 
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_TIME_REFRESH      = 0x0002; 
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_TIME_INITIALIZED  = 0x0004; 
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_TOW_VALID         = 0x0008; 
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_WEEK_NUMBER_VALID = 0x0010; 
static const mip_sensor_gps_timestamp_data_valid_flags MIP_SENSOR_GPS_TIMESTAMP_DATA_VALID_FLAGS_ALL               = 0x001F;
static inline void insert_mip_sensor_gps_timestamp_data_valid_flags(microstrain_serializer* serializer, const mip_sensor_gps_timestamp_data_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_sensor_gps_timestamp_data_valid_flags(microstrain_serializer* serializer, mip_sensor_gps_timestamp_data_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_sensor_gps_timestamp_data
{
    double tow; 
    uint16_t week_number; 
    mip_sensor_gps_timestamp_data_valid_flags valid_flags;
};
typedef struct mip_sensor_gps_timestamp_data mip_sensor_gps_timestamp_data;
 
void insert_mip_sensor_gps_timestamp_data(microstrain_serializer* serializer, const mip_sensor_gps_timestamp_data* self);
void extract_mip_sensor_gps_timestamp_data(microstrain_serializer* serializer, mip_sensor_gps_timestamp_data* self);
bool extract_mip_sensor_gps_timestamp_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_temperature_abs_data
{
    float min_temp; 
    float max_temp; 
    float mean_temp; 
};
typedef struct mip_sensor_temperature_abs_data mip_sensor_temperature_abs_data;
 
void insert_mip_sensor_temperature_abs_data(microstrain_serializer* serializer, const mip_sensor_temperature_abs_data* self);
void extract_mip_sensor_temperature_abs_data(microstrain_serializer* serializer, mip_sensor_temperature_abs_data* self);
bool extract_mip_sensor_temperature_abs_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_up_vector_data
{
    mip_vector3f up; 
};
typedef struct mip_sensor_up_vector_data mip_sensor_up_vector_data;
 
void insert_mip_sensor_up_vector_data(microstrain_serializer* serializer, const mip_sensor_up_vector_data* self);
void extract_mip_sensor_up_vector_data(microstrain_serializer* serializer, mip_sensor_up_vector_data* self);
bool extract_mip_sensor_up_vector_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_north_vector_data
{
    mip_vector3f north; 
};
typedef struct mip_sensor_north_vector_data mip_sensor_north_vector_data;
 
void insert_mip_sensor_north_vector_data(microstrain_serializer* serializer, const mip_sensor_north_vector_data* self);
void extract_mip_sensor_north_vector_data(microstrain_serializer* serializer, mip_sensor_north_vector_data* self);
bool extract_mip_sensor_north_vector_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
typedef uint16_t mip_sensor_overrange_status_data_status;
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_NONE    = 0x0000;
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_ACCEL_X = 0x0001; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_ACCEL_Y = 0x0002; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_ACCEL_Z = 0x0004; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_GYRO_X  = 0x0010; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_GYRO_Y  = 0x0020; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_GYRO_Z  = 0x0040; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_MAG_X   = 0x0100; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_MAG_Y   = 0x0200; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_MAG_Z   = 0x0400; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_PRESS   = 0x1000; 
static const mip_sensor_overrange_status_data_status MIP_SENSOR_OVERRANGE_STATUS_DATA_STATUS_ALL     = 0x1777;
static inline void insert_mip_sensor_overrange_status_data_status(microstrain_serializer* serializer, const mip_sensor_overrange_status_data_status self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_sensor_overrange_status_data_status(microstrain_serializer* serializer, mip_sensor_overrange_status_data_status* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_sensor_overrange_status_data
{
    mip_sensor_overrange_status_data_status status;
};
typedef struct mip_sensor_overrange_status_data mip_sensor_overrange_status_data;
 
void insert_mip_sensor_overrange_status_data(microstrain_serializer* serializer, const mip_sensor_overrange_status_data* self);
void extract_mip_sensor_overrange_status_data(microstrain_serializer* serializer, mip_sensor_overrange_status_data* self);
bool extract_mip_sensor_overrange_status_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
struct mip_sensor_odometer_data_data
{
    float speed; 
    float uncertainty; 
    uint16_t valid_flags; 
};
typedef struct mip_sensor_odometer_data_data mip_sensor_odometer_data_data;
 
void insert_mip_sensor_odometer_data_data(microstrain_serializer* serializer, const mip_sensor_odometer_data_data* self);
void extract_mip_sensor_odometer_data_data(microstrain_serializer* serializer, mip_sensor_odometer_data_data* self);
bool extract_mip_sensor_odometer_data_data_from_field(const mip_field_view* field, void* ptr);
 
 
 
#ifdef __cplusplus
} // extern "C"
} // namespace C
} // namespace mip
#endif // __cplusplus