#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_