ximu3 1.9.1

x-IMU3 API
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105

// 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 InertialMessage {
    pub timestamp: u64,
    pub gyroscope_x: f32,
    pub gyroscope_y: f32,
    pub gyroscope_z: f32,
    pub accelerometer_x: f32,
    pub accelerometer_y: f32,
    pub accelerometer_z: f32,
}

impl Default for InertialMessage {
    fn default() -> Self {
        Self {
            timestamp: 0,
            gyroscope_x: 0.0,
            gyroscope_y: 0.0,
            gyroscope_z: 0.0,
            accelerometer_x: 0.0,
            accelerometer_y: 0.0,
            accelerometer_z: 0.0,
        }
    }
}

impl DataMessage for InertialMessage {
    fn get_ascii_id() -> u8 {
        b'I'
    }

    fn parse_ascii(message: &str) -> Result<Self, ReceiveError> {
        match scan_fmt!(message, "{},{d},{f},{f},{f},{f},{f},{f}\n", char, u64, f32, f32, f32, f32, f32, f32) {
            Ok((_, timestamp, gyroscope_x, gyroscope_y, gyroscope_z, accelerometer_x, accelerometer_y, accelerometer_z)) => Ok(Self {
                timestamp,
                gyroscope_x,
                gyroscope_y,
                gyroscope_z,
                accelerometer_x,
                accelerometer_y,
                accelerometer_z,
            }),
            Err(_) => Err(ReceiveError::UnableToParseAsciiMessage),
        }
    }

    fn parse_binary(message: &[u8]) -> Result<Self, ReceiveError> {
        #[repr(C, packed)]
        struct BinaryMessage {
            _id: u8,
            timestamp: u64,
            gyroscope_x: f32,
            gyroscope_y: f32,
            gyroscope_z: f32,
            accelerometer_x: f32,
            accelerometer_y: f32,
            accelerometer_z: 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,
            gyroscope_x: binary_message.gyroscope_x,
            gyroscope_y: binary_message.gyroscope_y,
            gyroscope_z: binary_message.gyroscope_z,
            accelerometer_x: binary_message.accelerometer_x,
            accelerometer_y: binary_message.accelerometer_y,
            accelerometer_z: binary_message.accelerometer_z,
        })
    }

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

    fn get_csv_headings(&self) -> &'static str {
        "Timestamp (us),Gyroscope X (deg/s),Gyroscope Y (deg/s),Gyroscope Z (deg/s),Accelerometer X (g),Accelerometer Y (g),Accelerometer Z (g)\n"
    }

    fn to_csv_row(&self) -> String {
        format!("{},{:.6},{:.6},{:.6},{:.6},{:.6},{:.6}\n", self.timestamp, self.gyroscope_x, self.gyroscope_y, self.gyroscope_z, self.accelerometer_x, self.accelerometer_y, self.accelerometer_z)
    }
}

impl fmt::Display for InertialMessage {
    fn fmt(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
        write!(formatter, "{:>8} us {:>8.3} deg/s {:>8.3} deg/s {:>8.3} deg/s {:>8.3} g {:>8.3} g {:>8.3} g", self.timestamp, self.gyroscope_x, self.gyroscope_y, self.gyroscope_z, self.accelerometer_x, self.accelerometer_y, self.accelerometer_z)
    }
}