channels.h

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#ifndef INFUSE_SDK_INCLUDE_INFUSE_ZBUS_CHANNELS_H_
#define INFUSE_SDK_INCLUDE_INFUSE_ZBUS_CHANNELS_H_
 
#include <stdint.h>
 
#include <zephyr/zbus/zbus.h>
 
#include <infuse/drivers/imu/data_types.h>
#include <infuse/tdf/definitions.h>
 
#ifdef __cplusplus
extern "C" {
#endif


struct infuse_zbus_chan_movement_std_dev {
        struct tdf_acc_magnitude_std_dev data;
        uint32_t expected_samples;
        uint32_t movement_threshold;
};

struct infuse_zbus_chan_tilt {
        float cosine;
};
 
enum infuse_zbus_channel_id {
        INFUSE_ZBUS_CHAN_BASE = 0x43210000,
        INFUSE_ZBUS_CHAN_BATTERY = INFUSE_ZBUS_CHAN_BASE + 0,
        INFUSE_ZBUS_CHAN_AMBIENT_ENV = INFUSE_ZBUS_CHAN_BASE + 1,
        INFUSE_ZBUS_CHAN_IMU = INFUSE_ZBUS_CHAN_BASE + 2,
        INFUSE_ZBUS_CHAN_IMU_ACC_MAG = INFUSE_ZBUS_CHAN_BASE + 3,
        INFUSE_ZBUS_CHAN_LOCATION = INFUSE_ZBUS_CHAN_BASE + 4,
        INFUSE_ZBUS_CHAN_MOVEMENT_STD_DEV = INFUSE_ZBUS_CHAN_BASE + 5,
        INFUSE_ZBUS_CHAN_TILT = INFUSE_ZBUS_CHAN_BASE + 6,
        INFUSE_ZBUS_CHAN_UBX_NAV_PVT = INFUSE_ZBUS_CHAN_BASE + 7,
        INFUSE_ZBUS_CHAN_NRF9X_NAV_PVT = INFUSE_ZBUS_CHAN_BASE + 8,
        INFUSE_ZBUS_CHAN_SOC_TEMPERATURE = INFUSE_ZBUS_CHAN_BASE + 9,
};
 
#define _INFUSE_ZBUS_CHAN_BATTERY_TYPE          struct tdf_battery_state
#define _INFUSE_ZBUS_CHAN_AMBIENT_ENV_TYPE      struct tdf_ambient_temp_pres_hum
#define _INFUSE_ZBUS_CHAN_IMU_TYPE              struct imu_sample_array
#define _INFUSE_ZBUS_CHAN_IMU_ACC_MAG_TYPE      struct imu_magnitude_array
#define _INFUSE_ZBUS_CHAN_LOCATION_TYPE         struct tdf_gcs_wgs84_llha
#define _INFUSE_ZBUS_CHAN_MOVEMENT_STD_DEV_TYPE struct infuse_zbus_chan_movement_std_dev
#define _INFUSE_ZBUS_CHAN_TILT_TYPE             struct infuse_zbus_chan_tilt
#define _INFUSE_ZBUS_CHAN_UBX_NAV_PVT_TYPE      struct tdf_ubx_nav_pvt
#define _INFUSE_ZBUS_CHAN_NRF9X_NAV_PVT_TYPE    struct tdf_nrf9x_gnss_pvt
#define _INFUSE_ZBUS_CHAN_SOC_TEMPERATURE_TYPE  struct tdf_soc_temperature
 
#define _INFUSE_ZBUS_CHAN_BATTERY_NAME          zbus_infuse_battery
#define _INFUSE_ZBUS_CHAN_AMBIENT_ENV_NAME      zbus_infuse_ambient_env
#define _INFUSE_ZBUS_CHAN_IMU_NAME              zbus_infuse_imu
#define _INFUSE_ZBUS_CHAN_IMU_ACC_MAG_NAME      zbus_infuse_imu_acc_mag
#define _INFUSE_ZBUS_CHAN_LOCATION_NAME         zbus_infuse_location
#define _INFUSE_ZBUS_CHAN_MOVEMENT_STD_DEV_NAME zbus_infuse_move_std_dev
#define _INFUSE_ZBUS_CHAN_TILT_NAME             zbus_infuse_tilt
#define _INFUSE_ZBUS_CHAN_UBX_NAV_PVT_NAME      zbus_infuse_ubx_nav_pvt
#define _INFUSE_ZBUS_CHAN_NRF9X_NAV_PVT_NAME    zbus_infuse_nrf9x_nav_pvt
#define _INFUSE_ZBUS_CHAN_SOC_TEMPERATURE_NAME  zbus_infuse_soc_temperature

#define INFUSE_ZBUS_TYPE(channel) _##channel##_TYPE
#define INFUSE_ZBUS_NAME(channel) _##channel##_NAME

#define INFUSE_ZBUS_CHAN_DEFINE(channel)                                                           \
        ZBUS_CHAN_DEFINE_WITH_ID(INFUSE_ZBUS_NAME(channel), channel, INFUSE_ZBUS_TYPE(channel),    \
                                 NULL, NULL, ZBUS_OBSERVERS_EMPTY, ZBUS_MSG_INIT(0));

#define _INFUSE_ZBUS_CHAN_EXTERN(channel) _ZBUS_CHAN_EXTERN(INFUSE_ZBUS_NAME(channel))

#define INFUSE_ZBUS_CHAN_DECLARE(...) FOR_EACH(_INFUSE_ZBUS_CHAN_EXTERN, (;), __VA_ARGS__)

#define INFUSE_ZBUS_CHAN_GET(channel) (&INFUSE_ZBUS_NAME(channel))

static inline uint64_t infuse_zbus_channel_data_age(const struct zbus_channel *chan)
{
#ifdef CONFIG_ZBUS_CHANNEL_PUBLISH_STATS
        if (zbus_chan_pub_stats_count(chan) == 0) {
                return UINT64_MAX;
        }
        return k_ticks_to_ms_floor64(k_uptime_ticks() - zbus_chan_pub_stats_last_time(chan));
#else
        return UINT64_MAX;
#endif /* CONFIG_ZBUS_CHANNEL_PUBLISH_STATS */
}

 
#ifdef __cplusplus
}
#endif
 
#endif /* INFUSE_SDK_INCLUDE_INFUSE_ZBUS_CHANNELS_H_ */