MPU9250Data.h

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/* Copyright (c) 2021 Skyward Experimental Rocketry
 * Author: Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <sensors/SensorData.h>
 
namespace Boardcore
{
 
struct MPU9250Data : public AccelerometerData,
                     public GyroscopeData,
                     public MagnetometerData,
                     public TemperatureData
{
    MPU9250Data()
        : AccelerometerData{0, 0.0, 0.0, 0.0}, GyroscopeData{0, 0.0, 0.0, 0.0},
          MagnetometerData{0, 0.0, 0.0, 0.0}, TemperatureData{0, 0.0}
    {
    }
 
    static std::string header()
    {
        return "accelerationTimestamp,accelerationX,accelerationY,"
               "accelerationZ,gyro_"
               "timestamp,"
               "angularSpeedX,"
               "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
               "magneticFieldX,"
               "magneticFieldY,"
               "magneticFieldZ,"
               "temperatureTimestamp,"
               "temp\n";
    }
 
    void print(std::ostream& os) const
    {
        os << accelerationTimestamp << "," << accelerationX << ","
           << accelerationY << "," << accelerationZ << ","
           << angularSpeedTimestamp << "," << angularSpeedX << ","
           << angularSpeedY << "," << angularSpeedZ << ","
           << magneticFieldTimestamp << "," << magneticFieldX << ","
           << magneticFieldY << "," << magneticFieldZ << ","
           << temperatureTimestamp << "," << temperature << "\n";
    }
};
 
}  // namespace Boardcore