vn200 stm project

vn200/Converter/Inc/endec.hpp

@@ -0,0 +1,161 @@
+#ifndef _ENDEC_HPP_
+#define _ENDEC_HPP_
+
+#include "can1.h"
+#include <functional>
+
+namespace canlib {
+// frame structures
+namespace frame {
+namespace decoded {
+namespace can1 {
+struct vn200_ins_t {
+	double yaw;
+vn200_ins_t() {
+	this->yaw = 0.0;
+}
+
+vn200_ins_t(
+	double yaw) {
+	this->yaw = yaw;
+}
+
+};
+struct vn200_imu_t {
+	double multiplexer;
+	double accx;
+	double accy;
+	double accz;
+	double angx;
+	double angy;
+	double angz;
+vn200_imu_t() {
+	this->multiplexer = 0.0;
+	this->accx = 0.0;
+	this->accy = 0.0;
+	this->accz = 0.0;
+	this->angx = 0.0;
+	this->angy = 0.0;
+	this->angz = 0.0;
+}
+
+vn200_imu_t(
+	double multiplexer,
+	double accx,
+	double accy,
+	double accz,
+	double angx,
+	double angy,
+	double angz) {
+	this->multiplexer = multiplexer;
+	this->accx = accx;
+	this->accy = accy;
+	this->accz = accz;
+	this->angx = angx;
+	this->angy = angy;
+	this->angz = angz;
+}
+
+};
+struct vn200_ypr_t {
+	double yaw;
+	double pitch;
+	double roll;
+vn200_ypr_t() {
+	this->yaw = 0.0;
+	this->pitch = 0.0;
+	this->roll = 0.0;
+}
+
+vn200_ypr_t(
+	double yaw,
+	double pitch,
+	double roll) {
+	this->yaw = yaw;
+	this->pitch = pitch;
+	this->roll = roll;
+}
+
+};
+
+}
+}
+}
+    
+// encode functions
+namespace encode {
+namespace can1 {
+inline can1_vn200_ins_t vn200_ins(const frame::decoded::can1::vn200_ins_t frame_decoded) {
+    can1_vn200_ins_t frame_encoded;
+	frame_encoded.yaw = can1_vn200_ins_yaw_encode(frame_decoded.yaw);
+    return frame_encoded;
+}
+
+inline can1_vn200_imu_t vn200_imu(const frame::decoded::can1::vn200_imu_t frame_decoded) {
+    can1_vn200_imu_t frame_encoded;
+	frame_encoded.multiplexer = can1_vn200_imu_multiplexer_encode(frame_decoded.multiplexer);
+	frame_encoded.accx = can1_vn200_imu_accx_encode(frame_decoded.accx);
+	frame_encoded.accy = can1_vn200_imu_accy_encode(frame_decoded.accy);
+	frame_encoded.accz = can1_vn200_imu_accz_encode(frame_decoded.accz);
+	frame_encoded.angx = can1_vn200_imu_angx_encode(frame_decoded.angx);
+	frame_encoded.angy = can1_vn200_imu_angy_encode(frame_decoded.angy);
+	frame_encoded.angz = can1_vn200_imu_angz_encode(frame_decoded.angz);
+    return frame_encoded;
+}
+
+inline can1_vn200_ypr_t vn200_ypr(const frame::decoded::can1::vn200_ypr_t frame_decoded) {
+    can1_vn200_ypr_t frame_encoded;
+	frame_encoded.yaw = can1_vn200_ypr_yaw_encode(frame_decoded.yaw);
+	frame_encoded.pitch = can1_vn200_ypr_pitch_encode(frame_decoded.pitch);
+	frame_encoded.roll = can1_vn200_ypr_roll_encode(frame_decoded.roll);
+    return frame_encoded;
+}
+
+}
+}
+    
+// decode functions
+namespace decode {
+namespace can1 {
+inline frame::decoded::can1::vn200_ins_t vn200_ins(const can1_vn200_ins_t frame_encoded) {
+    frame::decoded::can1::vn200_ins_t frame_decoded;
+	frame_decoded.yaw = can1_vn200_ins_yaw_decode(frame_encoded.yaw);
+    return frame_decoded;
+}
+
+inline frame::decoded::can1::vn200_imu_t vn200_imu(const can1_vn200_imu_t frame_encoded) {
+    frame::decoded::can1::vn200_imu_t frame_decoded;
+	frame_decoded.multiplexer = can1_vn200_imu_multiplexer_decode(frame_encoded.multiplexer);
+	frame_decoded.accx = can1_vn200_imu_accx_decode(frame_encoded.accx);
+	frame_decoded.accy = can1_vn200_imu_accy_decode(frame_encoded.accy);
+	frame_decoded.accz = can1_vn200_imu_accz_decode(frame_encoded.accz);
+	frame_decoded.angx = can1_vn200_imu_angx_decode(frame_encoded.angx);
+	frame_decoded.angy = can1_vn200_imu_angy_decode(frame_encoded.angy);
+	frame_decoded.angz = can1_vn200_imu_angz_decode(frame_encoded.angz);
+    return frame_decoded;
+}
+
+inline frame::decoded::can1::vn200_ypr_t vn200_ypr(const can1_vn200_ypr_t frame_encoded) {
+    frame::decoded::can1::vn200_ypr_t frame_decoded;
+	frame_decoded.yaw = can1_vn200_ypr_yaw_decode(frame_encoded.yaw);
+	frame_decoded.pitch = can1_vn200_ypr_pitch_decode(frame_encoded.pitch);
+	frame_decoded.roll = can1_vn200_ypr_roll_decode(frame_encoded.roll);
+    return frame_decoded;
+}
+
+}
+}
+    
+// callback structure
+namespace callback {
+namespace can1 {
+	inline std::function<void(can1_vn200_ins_t, frame::decoded::can1::vn200_ins_t)> vn200_ins = NULL;
+	inline std::function<void(can1_vn200_imu_t, frame::decoded::can1::vn200_imu_t)> vn200_imu = NULL;
+	inline std::function<void(can1_vn200_ypr_t, frame::decoded::can1::vn200_ypr_t)> vn200_ypr = NULL;
+}
+}
+}
+
+
+#endif // _ENDEC_HPP_
+