ximu3 1.9.1

x-IMU3 API
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// This file was generated by x-IMU3-API/Rust/src/data_messages/generate_data_messages.py

use crate::data_messages::*;
use crate::receive_error::*;
use std::fmt;
use std::mem::size_of;

#[repr(C)]
#[derive(Clone, Copy)]
pub struct EulerAnglesMessage {
    pub timestamp: u64,
    pub roll: f32,
    pub pitch: f32,
    pub yaw: f32,
}

impl Default for EulerAnglesMessage {
    fn default() -> Self {
        Self {
            timestamp: 0,
            roll: 0.0,
            pitch: 0.0,
            yaw: 0.0,
        }
    }
}

impl DataMessage for EulerAnglesMessage {
    fn get_ascii_id() -> u8 {
        b'A'
    }

    fn parse_ascii(message: &str) -> Result<Self, ReceiveError> {
        match scan_fmt!(message, "{},{d},{f},{f},{f}\n", char, u64, f32, f32, f32) {
            Ok((_, timestamp, roll, pitch, yaw)) => Ok(Self {
                timestamp,
                roll,
                pitch,
                yaw,
            }),
            Err(_) => Err(ReceiveError::UnableToParseAsciiMessage),
        }
    }

    fn parse_binary(message: &[u8]) -> Result<Self, ReceiveError> {
        #[repr(C, packed)]
        struct BinaryMessage {
            _id: u8,
            timestamp: u64,
            roll: f32,
            pitch: f32,
            yaw: f32,
            _termination: u8,
        }

        if message.len() != size_of::<BinaryMessage>() {
            return Err(ReceiveError::InvalidBinaryMessageLength);
        }

        let binary_message = unsafe {
            let ref binary_message = *(message.as_ptr() as *const BinaryMessage);
            binary_message
        };

        Ok(Self {
            timestamp: binary_message.timestamp,
            roll: binary_message.roll,
            pitch: binary_message.pitch,
            yaw: binary_message.yaw,
        })
    }

    fn get_csv_file_name(&self) -> &'static str {
        "EulerAngles.csv"
    }

    fn get_csv_headings(&self) -> &'static str {
        "Timestamp (us),Roll (deg),Pitch (deg),Yaw (deg)\n"
    }

    fn to_csv_row(&self) -> String {
        format!("{},{:.6},{:.6},{:.6}\n", self.timestamp, self.roll, self.pitch, self.yaw)
    }
}

impl fmt::Display for EulerAnglesMessage {
    fn fmt(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
        write!(formatter, "{:>8} us {:>8.3} deg {:>8.3} deg {:>8.3} deg", self.timestamp, self.roll, self.pitch, self.yaw)
    }
}