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41 lines
1.3 KiB
41 lines
1.3 KiB
#include "locationd.h"
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extern "C" {
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typedef Localizer* Localizer_t;
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Localizer *localizer_init(bool has_ublox) {
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return new Localizer(has_ublox);
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}
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void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
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char *buff, size_t buff_size) {
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MessageBuilder msg_builder;
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kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
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assert(buff_size >= arr.size());
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memcpy(buff, arr.begin(), arr.size());
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}
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void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
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localizer->handle_msg_bytes(data, size);
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}
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void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
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Eigen::VectorXd state = localizer->get_state();
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memcpy(state_buff, state.data(), sizeof(double) * state.size());
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Eigen::VectorXd stdev = localizer->get_stdev();
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memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
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}
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bool is_gps_ok(Localizer *localizer){
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return localizer->is_gps_ok();
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}
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bool are_inputs_ok(Localizer *localizer){
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return localizer->are_inputs_ok();
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}
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void observation_timings_invalid_reset(Localizer *localizer){
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localizer->observation_timings_invalid_reset();
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}
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}
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