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Merged
qzhhhi merged 2 commits into from
Jul 4, 2026
Merged

refactor(api)!: Add board aliases and prefix IMU views #63

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cbfbc57
refactor(api)!: Add board aliases and prefix IMU views
qzhhhi Jul 4, 2026
e743397
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qzhhhi Jul 4, 2026
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12 changes: 6 additions & 6 deletions core/include/librmcs/data/datas.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,21 +112,21 @@ struct GpioReadConfigView {
}
};

struct AccelerometerDataView {
struct ImuAccelerometerDataView {
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_quarter_us;
};

struct GyroscopeDataView {
struct ImuGyroscopeDataView {
int16_t x;
int16_t y;
int16_t z;
uint32_t timestamp_quarter_us;
};

struct TemperatureDataView {
struct ImuTemperatureDataView {
uint16_t raw_register_value;
uint32_t timestamp_quarter_us;
};
Expand Down Expand Up @@ -164,9 +164,9 @@ class DataCallback {
[[nodiscard]] virtual bool
gpio_analog_read_result_callback(uint8_t channel_index, const GpioAnalogDataView& data) = 0;

virtual void accelerometer_receive_callback(const AccelerometerDataView& data) = 0;
virtual void gyroscope_receive_callback(const GyroscopeDataView& data) = 0;
virtual void temperature_receive_callback(const TemperatureDataView& data) = 0;
virtual void accelerometer_receive_callback(const ImuAccelerometerDataView& data) = 0;
virtual void gyroscope_receive_callback(const ImuGyroscopeDataView& data) = 0;
virtual void temperature_receive_callback(const ImuTemperatureDataView& data) = 0;
};

} // namespace librmcs::data
6 changes: 3 additions & 3 deletions core/src/protocol/deserializer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,7 +268,7 @@ coroutine::LifoTask<bool> Deserializer::process_imu_field(FieldId) {

switch (payload_type) {
case ImuHeader::PayloadEnum::kAccelerometer: {
data::AccelerometerDataView data_view{};
data::ImuAccelerometerDataView data_view{};
const auto* payload_bytes = co_await peek_bytes(sizeof(ImuAccelerometerPayload));
if (!payload_bytes) [[unlikely]]
co_return false;
Expand All @@ -282,7 +282,7 @@ coroutine::LifoTask<bool> Deserializer::process_imu_field(FieldId) {
break;
}
case ImuHeader::PayloadEnum::kGyroscope: {
data::GyroscopeDataView data_view{};
data::ImuGyroscopeDataView data_view{};
const auto* payload_bytes = co_await peek_bytes(sizeof(ImuGyroscopePayload));
if (!payload_bytes) [[unlikely]]
co_return false;
Expand All @@ -296,7 +296,7 @@ coroutine::LifoTask<bool> Deserializer::process_imu_field(FieldId) {
break;
}
case ImuHeader::PayloadEnum::kTemperature: {
data::TemperatureDataView data_view{};
data::ImuTemperatureDataView data_view{};
const auto* payload_bytes = co_await peek_bytes(sizeof(ImuTemperaturePayload));
if (!payload_bytes) [[unlikely]]
co_return false;
Expand Down
7 changes: 4 additions & 3 deletions core/src/protocol/deserializer.hpp
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Expand Up @@ -45,11 +45,12 @@ class DeserializeCallback {
[[nodiscard]] virtual bool gpio_analog_read_config_deserialized_callback(
uint8_t channel_index, const data::GpioReadConfigView& data) = 0;

virtual void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) = 0;
virtual void
accelerometer_deserialized_callback(const data::ImuAccelerometerDataView& data) = 0;

virtual void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) = 0;
virtual void gyroscope_deserialized_callback(const data::ImuGyroscopeDataView& data) = 0;

virtual void temperature_deserialized_callback(const data::TemperatureDataView& data) = 0;
virtual void temperature_deserialized_callback(const data::ImuTemperatureDataView& data) = 0;

virtual void session_control_deserialized_callback(const data::SessionControlView& data) = 0;

Expand Down
6 changes: 3 additions & 3 deletions core/src/protocol/serializer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -271,7 +271,7 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_imu_accelerometer(const data::AccelerometerDataView& view) noexcept {
SerializeResult write_imu_accelerometer(const data::ImuAccelerometerDataView& view) noexcept {
const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kAccelerometer);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

Expand All @@ -297,7 +297,7 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_imu_gyroscope(const data::GyroscopeDataView& view) noexcept {
SerializeResult write_imu_gyroscope(const data::ImuGyroscopeDataView& view) noexcept {
const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kGyroscope);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

Expand All @@ -323,7 +323,7 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_imu_temperature(const data::TemperatureDataView& view) noexcept {
SerializeResult write_imu_temperature(const data::ImuTemperatureDataView& view) noexcept {
const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kTemperature);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

Expand Down
6 changes: 3 additions & 3 deletions firmware/c_board/app/src/usb/vendor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,15 +196,15 @@ class Vendor
return false;
}

void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) override {
void accelerometer_deserialized_callback(const data::ImuAccelerometerDataView& data) override {
(void)data;
}

void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) override {
void gyroscope_deserialized_callback(const data::ImuGyroscopeDataView& data) override {
(void)data;
}

void temperature_deserialized_callback(const data::TemperatureDataView& data) override {
void temperature_deserialized_callback(const data::ImuTemperatureDataView& data) override {
(void)data;
}

Expand Down
6 changes: 3 additions & 3 deletions firmware/rmcs_board/app/src/usb/vendor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -215,15 +215,15 @@ class Vendor
return false;
}

void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) override {
void accelerometer_deserialized_callback(const data::ImuAccelerometerDataView& data) override {
(void)data;
}

void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) override {
void gyroscope_deserialized_callback(const data::ImuGyroscopeDataView& data) override {
(void)data;
}

void temperature_deserialized_callback(const data::TemperatureDataView& data) override {
void temperature_deserialized_callback(const data::ImuTemperatureDataView& data) override {
(void)data;
}

Expand Down
48 changes: 30 additions & 18 deletions host/include/librmcs/board/c_board.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,43 +37,55 @@ class CBoard final {
public:
class Callback : public data::DataCallback {
public:
virtual void can_receive_callback(
const librmcs::spec::c_board::CanDescriptor& can,
const librmcs::data::CanDataView& data) {
struct Spec {
using Can = spec::c_board::CanDescriptor;
static constexpr spec::c_board::internal::CanDescriptors kCans{};

using Uart = spec::c_board::UartDescriptor;
static constexpr spec::c_board::internal::UartDescriptors kUarts{};

using Gpio = spec::c_board::GpioDescriptor;
static constexpr spec::c_board::internal::GpioDescriptors kGpios{};
};

struct View {
using Can = data::CanDataView;

using Uart = data::UartDataView;

using GpioDigital = data::GpioDigitalDataView;

using ImuAccelerometer = librmcs::data::ImuAccelerometerDataView;
using ImuGyroscope = librmcs::data::ImuGyroscopeDataView;
using ImuTemperature = librmcs::data::ImuTemperatureDataView;
};

virtual void can_receive_callback(const Spec::Can& can, const View::Can& data) {
(void)can;
(void)data;
}

virtual void uart_receive_callback(
const librmcs::spec::c_board::UartDescriptor& uart,
const librmcs::data::UartDataView& data) {
virtual void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) {
(void)uart;
(void)data;
}

virtual void gpio_digital_read_result_callback(
const librmcs::spec::c_board::GpioDescriptor& gpio,
const librmcs::data::GpioDigitalDataView& data) {
const Spec::Gpio& gpio, const View::GpioDigital& data) {
(void)gpio;
(void)data;
}
virtual void gpio_analog_read_result_callback(
const librmcs::spec::c_board::GpioDescriptor& gpio,
const librmcs::data::GpioAnalogDataView& data) {
const Spec::Gpio& gpio, const librmcs::data::GpioAnalogDataView& data) {
(void)gpio;
(void)data;
}

void accelerometer_receive_callback(
const librmcs::data::AccelerometerDataView& data) override {
(void)data;
}
void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override {
(void)data;
}
void temperature_receive_callback(const librmcs::data::TemperatureDataView& data) override {
void accelerometer_receive_callback(const View::ImuAccelerometer& data) override {
(void)data;
}
void gyroscope_receive_callback(const View::ImuGyroscope& data) override { (void)data; }
void temperature_receive_callback(const View::ImuTemperature& data) override { (void)data; }

public:
bool can_receive_callback(data::DataId id, const data::CanDataView& data) final {
Expand Down
48 changes: 30 additions & 18 deletions host/include/librmcs/board/rmcs_board_lite.hpp
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Expand Up @@ -37,43 +37,55 @@ class RmcsBoardLite final {
public:
class Callback : public data::DataCallback {
public:
virtual void can_receive_callback(
const librmcs::spec::rmcs_board_lite::CanDescriptor& can,
const librmcs::data::CanDataView& data) {
struct Spec {
using Can = spec::rmcs_board_lite::CanDescriptor;
static constexpr spec::rmcs_board_lite::internal::CanDescriptors kCans{};

using Uart = spec::rmcs_board_lite::UartDescriptor;
static constexpr spec::rmcs_board_lite::internal::UartDescriptors kUarts{};

using Gpio = spec::rmcs_board_lite::GpioDescriptor;
static constexpr spec::rmcs_board_lite::internal::GpioDescriptors kGpios{};
};

struct View {
using Can = data::CanDataView;

using Uart = data::UartDataView;

using GpioDigital = data::GpioDigitalDataView;

using ImuAccelerometer = librmcs::data::ImuAccelerometerDataView;
using ImuGyroscope = librmcs::data::ImuGyroscopeDataView;
using ImuTemperature = librmcs::data::ImuTemperatureDataView;
};

virtual void can_receive_callback(const Spec::Can& can, const View::Can& data) {
(void)can;
(void)data;
}

virtual void uart_receive_callback(
const librmcs::spec::rmcs_board_lite::UartDescriptor& uart,
const librmcs::data::UartDataView& data) {
virtual void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) {
(void)uart;
(void)data;
}

virtual void gpio_digital_read_result_callback(
const librmcs::spec::rmcs_board_lite::GpioDescriptor& gpio,
const librmcs::data::GpioDigitalDataView& data) {
const Spec::Gpio& gpio, const View::GpioDigital& data) {
(void)gpio;
(void)data;
}
virtual void gpio_analog_read_result_callback(
const librmcs::spec::rmcs_board_lite::GpioDescriptor& gpio,
const librmcs::data::GpioAnalogDataView& data) {
const Spec::Gpio& gpio, const librmcs::data::GpioAnalogDataView& data) {
(void)gpio;
(void)data;
}

void accelerometer_receive_callback(
const librmcs::data::AccelerometerDataView& data) override {
(void)data;
}
void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override {
(void)data;
}
void temperature_receive_callback(const librmcs::data::TemperatureDataView& data) override {
void accelerometer_receive_callback(const View::ImuAccelerometer& data) override {
(void)data;
}
void gyroscope_receive_callback(const View::ImuGyroscope& data) override { (void)data; }
void temperature_receive_callback(const View::ImuTemperature& data) override { (void)data; }

public:
bool can_receive_callback(data::DataId id, const data::CanDataView& data) final {
Expand Down
48 changes: 30 additions & 18 deletions host/include/librmcs/board/rmcs_board_pro.hpp
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Expand Up @@ -37,43 +37,55 @@ class RmcsBoardPro final {
public:
class Callback : public data::DataCallback {
public:
virtual void can_receive_callback(
const librmcs::spec::rmcs_board_pro::CanDescriptor& can,
const librmcs::data::CanDataView& data) {
struct Spec {
using Can = spec::rmcs_board_pro::CanDescriptor;
static constexpr spec::rmcs_board_pro::internal::CanDescriptors kCans{};

using Uart = spec::rmcs_board_pro::UartDescriptor;
static constexpr spec::rmcs_board_pro::internal::UartDescriptors kUarts{};

using Gpio = spec::rmcs_board_pro::GpioDescriptor;
static constexpr spec::rmcs_board_pro::internal::GpioDescriptors kGpios{};
};

struct View {
using Can = data::CanDataView;

using Uart = data::UartDataView;

using GpioDigital = data::GpioDigitalDataView;

using ImuAccelerometer = librmcs::data::ImuAccelerometerDataView;
using ImuGyroscope = librmcs::data::ImuGyroscopeDataView;
using ImuTemperature = librmcs::data::ImuTemperatureDataView;
};

virtual void can_receive_callback(const Spec::Can& can, const View::Can& data) {
(void)can;
(void)data;
}

virtual void uart_receive_callback(
const librmcs::spec::rmcs_board_pro::UartDescriptor& uart,
const librmcs::data::UartDataView& data) {
virtual void uart_receive_callback(const Spec::Uart& uart, const View::Uart& data) {
(void)uart;
(void)data;
}

virtual void gpio_digital_read_result_callback(
const librmcs::spec::rmcs_board_pro::GpioDescriptor& gpio,
const librmcs::data::GpioDigitalDataView& data) {
const Spec::Gpio& gpio, const View::GpioDigital& data) {
(void)gpio;
(void)data;
}
virtual void gpio_analog_read_result_callback(
const librmcs::spec::rmcs_board_pro::GpioDescriptor& gpio,
const librmcs::data::GpioAnalogDataView& data) {
const Spec::Gpio& gpio, const librmcs::data::GpioAnalogDataView& data) {
(void)gpio;
(void)data;
}

void accelerometer_receive_callback(
const librmcs::data::AccelerometerDataView& data) override {
(void)data;
}
void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override {
(void)data;
}
void temperature_receive_callback(const librmcs::data::TemperatureDataView& data) override {
void accelerometer_receive_callback(const View::ImuAccelerometer& data) override {
(void)data;
}
void gyroscope_receive_callback(const View::ImuGyroscope& data) override { (void)data; }
void temperature_receive_callback(const View::ImuTemperature& data) override { (void)data; }

public:
bool can_receive_callback(data::DataId id, const data::CanDataView& data) final {
Expand Down
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