ev3_sensor.h

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/*  ev3_sensor.h was generated by yup.py (yupp) 1.0c3
    out of ev3_sensor.yu-h 
 */
#ifndef EV3_SENSOR_H
#define EV3_SENSOR_H

#ifdef  EV3_SENSOR_IMPLEMENT
#define EV3_SENSOR_VAR( decl ) \
    decl
#define EV3_SENSOR_VAR_INIT( decl, ... ) \
    decl = __VA_ARGS__

#define EV3_SENSOR_INL

#else  /* EV3_SENSOR_IMPLEMENT */
#define EV3_SENSOR_VAR( decl ) \
    extern decl
#define EV3_SENSOR_VAR_INIT( decl, ... ) \
    extern decl

#if __GNUC__ && !__GNUC_STDC_INLINE__
#define EV3_SENSOR_INL \
    extern inline
#else
#define EV3_SENSOR_INL \
    inline
#endif

#endif /* EV3_SENSOR_IMPLEMENT */

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

#ifdef __cplusplus
extern "C" {
#endif

#define SENSOR_DIR  "/sys/class/lego-sensor"  
typedef struct {
    INX_T type_inx;  
    uint8_t port;  
    uint8_t extport;  
    uint8_t addr;  
} EV3_SENSOR;

#define SENSOR_DESC__LIMIT_  DESC_LIMIT  
#define SENSOR__NONE_  SENSOR_DESC__LIMIT_  
EV3_SENSOR_VAR( EV3_SENSOR ev3_sensor[ SENSOR_DESC__LIMIT_ ] );

enum {
    SENSOR_TYPE__NONE_ = 0,  /* XXX: memset( 0 ) is used */

    EV3_ANALOG_XX,
    NXT_ANALOG,
    PIXY_LEGO,
    DI_DFLEX,
    FCL_9DOF,
    FCL_ADC,
    FCL_ALTITUDE,
    FCL_GESTURE,
    FCL_HUMIDITY,
    FCL_IR,
    FCL_LIGHT,
    HT_NXT_COLOR,
    HT_NXT_ANGLE,
    HT_NXT_ACCEL,
    HT_NXT_BAROMETRIC,
    HT_NXT_COLOR_V2,
    HT_NXT_EOPD,
    HT_NXT_FORCE,
    HT_NXT_GYRO,
    HT_NXT_IR_LINK,
    HT_NXT_IR_RECEIVER,
    HT_NXT_PIR,
    HT_NXT_COMPASS,
    HT_NXT_MAG,
    HT_NXT_IR_SEEK_V2,
    HT_NXT_SMUX,
    HT_SUPER_PRO,
    LEGO_EV3_US,
    LEGO_EV3_GYRO,
    LEGO_EV3_COLOR,
    LEGO_EV3_TOUCH,
    LEGO_EV3_IR,
    WEDO_HUB,
    WEDO_MOTION,
    WEDO_TILT,
    LEGO_POWER_STORAGE,
    LEGO_NXT_TEMP,
    LEGO_NXT_TOUCH,
    LEGO_NXT_LIGHT,
    LEGO_NXT_SOUND,
    LEGO_NXT_US,
    MI_XG1300L,
    MS_ABSOLUTE_IMU,
    MS_ANGLE,
    MS_EV3_SMUX,
    MS_LIGHT_ARRAY,
    MS_LINE_LEADER,
    MS_NXTCAM,
    MS_NXTCAM5,
    MS_NXTMMX,
    MS_8CH_SERVO,
    MS_PPS58_NX,
    MS_PIXY_ADAPTER,
    MS_NXT_TOUCH_MUX,

    SENSOR_TYPE__COUNT_,  
    SENSOR_TYPE__UNKNOWN_ = SENSOR_TYPE__COUNT_
};

enum {
    SENSOR_MODE__NONE_ = 0,

    EV3_ANALOG_XX_ANALOG,           
    NXT_ANALOG_ANALOG_0, 
    NXT_ANALOG_ANALOG_1,            
    PIXY_LEGO_ALL, 
    PIXY_LEGO_SIG1, 
    PIXY_LEGO_SIG2, 
    PIXY_LEGO_SIG3, 
    PIXY_LEGO_SIG4, 
    PIXY_LEGO_SIG5, 
    PIXY_LEGO_SIG6, 
    PIXY_LEGO_SIG7,             
    DI_DFLEX_FLEX,          
    FCL_9DOF_GYRO, 
    FCL_9DOF_ACC, 
    FCL_9DOF_MAGNET,            
    FCL_ADC_CH1_VOLTAGE, 
    FCL_ADC_CH2_VOLTAGE, 
    FCL_ADC_VOLTAGE,            
    FCL_ALTITUDE_PRESSURE, 
    FCL_ALTITUDE_ALTITUDE,          
    FCL_GESTURE_GESTURE, 
    FCL_GESTURE_PROXIMITY, 
    FCL_GESTURE_RGB_RAW, 
    FCL_GESTURE_CLEAR,          
    FCL_HUMIDITY_CENTIGRADE, 
    FCL_HUMIDITY_FAHRENHEIT, 
    FCL_HUMIDITY_HUMIDITY,          
    FCL_IR_IR_DATA,             
    FCL_LIGHT_ILLUMINANCE,          
    HT_NXT_COLOR_COLOR, 
    HT_NXT_COLOR_RED, 
    HT_NXT_COLOR_GREEN, 
    HT_NXT_COLOR_BLUE, 
    HT_NXT_COLOR_RAW, 
    HT_NXT_COLOR_NORM, 
    HT_NXT_COLOR_ALL,           
    HT_NXT_ANGLE_ANGLE, 
    HT_NXT_ANGLE_ANGLE_ACC, 
    HT_NXT_ANGLE_SPEED,             
    HT_NXT_ACCEL_ACCEL, 
    HT_NXT_ACCEL_ALL,           
    HT_NXT_BAROMETRIC_PRESS, 
    HT_NXT_BAROMETRIC_TEMP,             
    HT_NXT_COLOR_V2_COLOR, 
    HT_NXT_COLOR_V2_RED, 
    HT_NXT_COLOR_V2_GREEN, 
    HT_NXT_COLOR_V2_BLUE, 
    HT_NXT_COLOR_V2_WHITE, 
    HT_NXT_COLOR_V2_NORM, 
    HT_NXT_COLOR_V2_ALL, 
    HT_NXT_COLOR_V2_PASSIVE, 
    HT_NXT_COLOR_V2_RAW,            
    HT_NXT_EOPD_LONG, 
    HT_NXT_EOPD_SHORT,          
    HT_NXT_FORCE_FORCE,             
    HT_NXT_GYRO_GYRO,           
    HT_NXT_IR_LINK_IRLINK,          
    HT_NXT_IR_RECEIVER_1_MOTOR, 
    HT_NXT_IR_RECEIVER_8_MOTOR,             
    HT_NXT_PIR_PROX,            
    HT_NXT_COMPASS_COMPASS,             
    HT_NXT_MAG_MAG,             
    HT_NXT_IR_SEEK_V2_DC, 
    HT_NXT_IR_SEEK_V2_AC, 
    HT_NXT_IR_SEEK_V2_DC_ALL, 
    HT_NXT_IR_SEEK_V2_AC_ALL,           
    HT_NXT_SMUX_MUX,            
    HT_SUPER_PRO_AIN, 
    HT_SUPER_PRO_DIN, 
    HT_SUPER_PRO_DOUT, 
    HT_SUPER_PRO_DCTRL, 
    HT_SUPER_PRO_STROBE, 
    HT_SUPER_PRO_LED, 
    HT_SUPER_PRO_AOUT_0, 
    HT_SUPER_PRO_AOUT_1,            
    LEGO_EV3_US_US_DIST_CM, US_US_DIST_CM = LEGO_EV3_US_US_DIST_CM,
    LEGO_EV3_US_US_DIST_IN, US_US_DIST_IN = LEGO_EV3_US_US_DIST_IN,
    LEGO_EV3_US_US_LISTEN, US_US_LISTEN = LEGO_EV3_US_US_LISTEN,
    LEGO_EV3_US_US_SI_CM, US_US_SI_CM = LEGO_EV3_US_US_SI_CM,
    LEGO_EV3_US_US_SI_IN, US_US_SI_IN = LEGO_EV3_US_US_SI_IN,
    LEGO_EV3_US_US_DC_CM, US_US_DC_CM = LEGO_EV3_US_US_DC_CM,
    LEGO_EV3_US_US_DC_IN, US_US_DC_IN = LEGO_EV3_US_US_DC_IN,           
    LEGO_EV3_GYRO_GYRO_ANG, GYRO_GYRO_ANG = LEGO_EV3_GYRO_GYRO_ANG,
    LEGO_EV3_GYRO_GYRO_RATE, GYRO_GYRO_RATE = LEGO_EV3_GYRO_GYRO_RATE,
    LEGO_EV3_GYRO_GYRO_FAS, GYRO_GYRO_FAS = LEGO_EV3_GYRO_GYRO_FAS,
    LEGO_EV3_GYRO_GYRO_G_AND_A, GYRO_GYRO_G_AND_A = LEGO_EV3_GYRO_GYRO_G_AND_A,
    LEGO_EV3_GYRO_GYRO_CAL, GYRO_GYRO_CAL = LEGO_EV3_GYRO_GYRO_CAL,         
    LEGO_EV3_COLOR_COL_REFLECT, COLOR_COL_REFLECT = LEGO_EV3_COLOR_COL_REFLECT,
    LEGO_EV3_COLOR_COL_AMBIENT, COLOR_COL_AMBIENT = LEGO_EV3_COLOR_COL_AMBIENT,
    LEGO_EV3_COLOR_COL_COLOR, COLOR_COL_COLOR = LEGO_EV3_COLOR_COL_COLOR,
    LEGO_EV3_COLOR_REF_RAW, COLOR_REF_RAW = LEGO_EV3_COLOR_REF_RAW,
    LEGO_EV3_COLOR_RGB_RAW, COLOR_RGB_RAW = LEGO_EV3_COLOR_RGB_RAW,
    LEGO_EV3_COLOR_COL_CAL, COLOR_COL_CAL = LEGO_EV3_COLOR_COL_CAL,         
    LEGO_EV3_TOUCH_TOUCH, TOUCH_TOUCH = LEGO_EV3_TOUCH_TOUCH,           
    LEGO_EV3_IR_IR_PROX, IR_IR_PROX = LEGO_EV3_IR_IR_PROX,
    LEGO_EV3_IR_IR_SEEK, IR_IR_SEEK = LEGO_EV3_IR_IR_SEEK,
    LEGO_EV3_IR_IR_REMOTE, IR_IR_REMOTE = LEGO_EV3_IR_IR_REMOTE,
    LEGO_EV3_IR_IR_REM_A, IR_IR_REM_A = LEGO_EV3_IR_IR_REM_A,
    LEGO_EV3_IR_IR_S_ALT, IR_IR_S_ALT = LEGO_EV3_IR_IR_S_ALT,
    LEGO_EV3_IR_IR_CAL, IR_IR_CAL = LEGO_EV3_IR_IR_CAL,         
    WEDO_HUB_HUB,           
    WEDO_MOTION_PROX, 
    WEDO_MOTION_RAW,            
    WEDO_TILT_TILT, 
    WEDO_TILT_TILT_AXIS, 
    WEDO_TILT_RAW,          
    LEGO_POWER_STORAGE_IN_VOLT, 
    LEGO_POWER_STORAGE_IN_AMP, 
    LEGO_POWER_STORAGE_OUT_VOLT, 
    LEGO_POWER_STORAGE_OUT_AMP, 
    LEGO_POWER_STORAGE_JOULE, 
    LEGO_POWER_STORAGE_IN_WATT, 
    LEGO_POWER_STORAGE_OUT_WATT, 
    LEGO_POWER_STORAGE_ALL,             
    LEGO_NXT_TEMP_NXT_TEMP_C, 
    LEGO_NXT_TEMP_NXT_TEMP_F,           
    LEGO_NXT_TOUCH_TOUCH,           
    LEGO_NXT_LIGHT_REFLECT, 
    LEGO_NXT_LIGHT_AMBIENT,             
    LEGO_NXT_SOUND_DB, 
    LEGO_NXT_SOUND_DBA,             
    LEGO_NXT_US_US_DIST_CM, 
    LEGO_NXT_US_US_DIST_IN, 
    LEGO_NXT_US_US_SI_CM, 
    LEGO_NXT_US_US_SI_IN, 
    LEGO_NXT_US_US_LISTEN,          
    MI_XG1300L_ANGLE, 
    MI_XG1300L_SPEED, 
    MI_XG1300L_ACCEL, 
    MI_XG1300L_ALL,             
    MS_ABSOLUTE_IMU_TILT, 
    MS_ABSOLUTE_IMU_ACCEL, 
    MS_ABSOLUTE_IMU_COMPASS, 
    MS_ABSOLUTE_IMU_MAG, 
    MS_ABSOLUTE_IMU_GYRO, 
    MS_ABSOLUTE_IMU_ALL,            
    MS_ANGLE_ANGLE, 
    MS_ANGLE_ANGLE2, 
    MS_ANGLE_SPEED, 
    MS_ANGLE_ALL,           
    MS_EV3_SMUX_MUX,            
    MS_LIGHT_ARRAY_CAL, 
    MS_LIGHT_ARRAY_RAW,             
    MS_LINE_LEADER_PID, 
    MS_LINE_LEADER_PID_ALL, 
    MS_LINE_LEADER_CAL, 
    MS_LINE_LEADER_RAW,             
    MS_NXTCAM_TRACK,            
    MS_NXTCAM5_TRACK,           
    MS_NXTMMX_STATUS, 
    MS_NXTMMX_STATUS_OLD,           
    MS_8CH_SERVO_V3, 
    MS_8CH_SERVO_OLD,           
    MS_PPS58_NX_RAW, 
    MS_PPS58_NX_ABS_PSI, 
    MS_PPS58_NX_ABS_MBAR, 
    MS_PPS58_NX_ABS_KPA, 
    MS_PPS58_NX_REL_PSI, 
    MS_PPS58_NX_REL_MBAR, 
    MS_PPS58_NX_REL_KPA,            
    MS_PIXY_ADAPTER_TRACK,          
    MS_NXT_TOUCH_MUX_TOUCH_MUX, 
    SENSOR_MODE__COUNT_,  
    SENSOR_MODE__UNKNOWN_ = SENSOR_MODE__COUNT_
};

enum {
    SENSOR_COMMAND__NONE_ = 0,

    HT_NXT_ANGLE_RESET, 
    HT_NXT_ANGLE_CAL,                                                                                                                                                           
    HT_NXT_SMUX_HALT, 
    HT_NXT_SMUX_DETECT, 
    HT_NXT_SMUX_RUN,                                                                                    
    WEDO_HUB_OUT_OFF, 
    WEDO_HUB_OUT_ON, 
    WEDO_HUB_CLEAR_ERR,                                                                                                             
    MI_XG1300L_RESET, 
    MI_XG1300L_ACCEL_2G, 
    MI_XG1300L_ACCEL_4G, 
    MI_XG1300L_ACCEL_8G,            
    MS_ABSOLUTE_IMU_BEGIN_COMP_CAL, 
    MS_ABSOLUTE_IMU_END_COMP_CAL, 
    MS_ABSOLUTE_IMU_ACCEL_2G, 
    MS_ABSOLUTE_IMU_ACCEL_4G, 
    MS_ABSOLUTE_IMU_ACCEL_8G, 
    MS_ABSOLUTE_IMU_ACCEL_16G,          
    MS_ANGLE_RESET,                         
    MS_LIGHT_ARRAY_CAL_WHITE, 
    MS_LIGHT_ARRAY_CAL_BLACK, 
    MS_LIGHT_ARRAY_SLEEP, 
    MS_LIGHT_ARRAY_WAKE, 
    MS_LIGHT_ARRAY_60HZ, 
    MS_LIGHT_ARRAY_50HZ, 
    MS_LIGHT_ARRAY_UNIVERSAL,           
    MS_LINE_LEADER_CAL_WHITE, 
    MS_LINE_LEADER_CAL_BLACK, 
    MS_LINE_LEADER_SLEEP, 
    MS_LINE_LEADER_WAKE, 
    MS_LINE_LEADER_INV_COL, 
    MS_LINE_LEADER_RST_COL, 
    MS_LINE_LEADER_SNAP, 
    MS_LINE_LEADER_60HZ, 
    MS_LINE_LEADER_50HZ, 
    MS_LINE_LEADER_UNIVERSAL,           
    MS_NXTCAM_TRACK_ON, 
    MS_NXTCAM_TRACK_OFF, 
    MS_NXTCAM_TRACK_OBJ, 
    MS_NXTCAM_TRACK_LINE, 
    MS_NXTCAM_SORT_SIZE, 
    MS_NXTCAM_SORT_COL,             
    MS_NXTCAM5_TRACK_OBJ, 
    MS_NXTCAM5_TRACK_FACE, 
    MS_NXTCAM5_MULTI_MOVIE, 
    MS_NXTCAM5_MOVIE, 
    MS_NXTCAM5_PICTURE, 
    MS_NXTCAM5_TRACK_EYE, 
    MS_NXTCAM5_TRACK_QR, 
    MS_NXTCAM5_TRACK_LINE,                                  
    MS_PPS58_NX_ZERO,           
    MS_PIXY_ADAPTER_SORT_SIZE, 
    MS_PIXY_ADAPTER_SORT_COL,           
    SENSOR_COMMAND__COUNT_,  
    SENSOR_COMMAND__UNKNOWN_ = SENSOR_COMMAND__COUNT_
};

extern size_t get_sensor_address( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_bin_data( uint8_t sn, byte *buf, size_t sz );

extern size_t set_sensor_bin_data( uint8_t sn, byte *value, size_t sz );

extern size_t multi_set_sensor_bin_data( uint8_t *sn, byte *value, size_t sz );

extern size_t get_sensor_bin_data_format( uint8_t sn, char *buf, size_t sz );

extern size_t set_sensor_command( uint8_t sn, char *value );

extern size_t multi_set_sensor_command( uint8_t *sn, char *value );

extern size_t get_sensor_commands( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_direct( uint8_t sn, char *buf, size_t sz );

extern size_t set_sensor_direct( uint8_t sn, char *value );

extern size_t multi_set_sensor_direct( uint8_t *sn, char *value );

extern size_t get_sensor_decimals( uint8_t sn, dword *buf );

extern size_t get_sensor_driver_name( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_fw_version( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_mode( uint8_t sn, char *buf, size_t sz );

extern size_t set_sensor_mode( uint8_t sn, char *value );

extern size_t multi_set_sensor_mode( uint8_t *sn, char *value );

extern size_t get_sensor_modes( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_num_values( uint8_t sn, dword *buf );

extern size_t get_sensor_poll_ms( uint8_t sn, dword *buf );

extern size_t set_sensor_poll_ms( uint8_t sn, dword value );

extern size_t multi_set_sensor_poll_ms( uint8_t *sn, dword value );

extern size_t get_sensor_units( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_value0( uint8_t sn, float *buf );

extern size_t get_sensor_value1( uint8_t sn, float *buf );

extern size_t get_sensor_value2( uint8_t sn, float *buf );

extern size_t get_sensor_value3( uint8_t sn, float *buf );

extern size_t get_sensor_value4( uint8_t sn, float *buf );

extern size_t get_sensor_value5( uint8_t sn, float *buf );

extern size_t get_sensor_value6( uint8_t sn, float *buf );

extern size_t get_sensor_value7( uint8_t sn, float *buf );

extern size_t get_sensor_text_value( uint8_t sn, char *buf, size_t sz );

extern size_t get_sensor_value( uint8_t inx, uint8_t sn, int *buf );

extern const char *ev3_sensor_type( INX_T type_inx );

extern INX_T get_sensor_type_inx( uint8_t sn );

extern size_t get_sensor_desc( uint8_t sn, EV3_SENSOR *desc );

extern EV3_SENSOR *ev3_sensor_desc( uint8_t sn );

extern INX_T ev3_sensor_desc_type_inx( uint8_t sn );

extern uint8_t ev3_sensor_desc_port( uint8_t sn );

extern uint8_t ev3_sensor_desc_extport( uint8_t sn );

extern uint8_t ev3_sensor_desc_addr( uint8_t sn );

extern char *ev3_sensor_port_name( uint8_t sn, char *buf );

extern bool ev3_search_sensor( INX_T type_inx, uint8_t *sn, uint8_t from );

extern bool ev3_search_sensor_plugged_in( uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from );

extern const char *ev3_sensor_mode( INX_T mode_inx );

extern INX_T get_sensor_mode_inx_of_type( uint8_t sn, INX_T type_inx );

extern INX_T get_sensor_mode_inx( uint8_t sn );

extern size_t set_sensor_mode_inx( uint8_t sn, INX_T mode_inx );

extern size_t multi_set_sensor_mode_inx( uint8_t *sn, INX_T mode_inx );

extern const char *ev3_sensor_command( INX_T command_inx );

extern size_t set_sensor_command_inx( uint8_t sn, INX_T command_inx );

extern size_t multi_set_sensor_command_inx( uint8_t *sn, INX_T command_inx );

extern int ev3_sensor_init( void );

enum {
    IR_REMOTE__NONE_   = 0,

    RED_UP             = 1,
    RED_DOWN           = 2,
    BLUE_UP            = 3,
    BLUE_DOWN          = 4,
    RED_UP_BLUE_UP     = 5,
    RED_UP_BLUE_DOWN   = 6,
    RED_DOWN_BLUE_UP   = 7,
    RED_DOWN_BLUE_DOWN = 8,
    BEACON_MODE_ON     = 9,
    RED_UP_RED_DOWN    = 10,
    BLUE_UP_BLUE_DOWN  = 11,
};

#ifdef __cplusplus
}
#endif

#undef EV3_SENSOR_VAR
#undef EV3_SENSOR_VAR_INIT
#undef EV3_SENSOR_INL
#endif