feat(RemoteControl): add IMU data (#230)

Author: stefanvogel

lib/APPRemoteControl/src/App.cpp

@@ -458,10 +458,11 @@ void App_lineSensorChannelCallback(const uint8_t* payload, const uint8_t payload
 }
 
 /**
- * Receives current position and heading of the robot over SerialMuxProt channel.
+ * Receives current position, heading and IMU of the robot over SerialMuxProt channel.
  *
- * @param[in] payload       Current vehicle data. Two coordinates, one orientation and two motor speeds.
- * @param[in] payloadSize   Size of two coordinates, one orientation and two motor speeds.
+ * @param[in] payload       Current vehicle data: Timestamp, two coordinates, one orientation,
+ *                          three motor speeds and raw IMU data (X acceleration, Z axis turn rate).
+ * @param[in] payloadSize   The size of the received payload data.
  * @param[in] userData      Instance of App class.
  */
 void App_currentVehicleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData)
@@ -472,9 +473,10 @@ void App_currentVehicleChannelCallback(const uint8_t* payload, const uint8_t pay
     {
         const VehicleData* currentVehicleData = reinterpret_cast<const VehicleData*>(payload);
 
-        LOG_DEBUG("X: %d Y: %d Heading: %d Left: %d Right: %d Center: %d", currentVehicleData->xPos,
-                  currentVehicleData->yPos, currentVehicleData->orientation, currentVehicleData->left,
-                  currentVehicleData->right, currentVehicleData->center);
+        LOG_DEBUG("Timestamp: %d X: %d Y: %d Heading: %d Left: %d Right: %d Center: %d AccX: %d TurnZ: %d ",
+                  currentVehicleData->timestamp, currentVehicleData->xPos, currentVehicleData->yPos,
+                  currentVehicleData->orientation, currentVehicleData->left, currentVehicleData->right,
+                  currentVehicleData->center, currentVehicleData->accelerationX, currentVehicleData->turnRateZ);
     }
     else
     {

lib/APPRemoteControl/src/SerialMuxChannels.h

@@ -186,8 +186,9 @@ typedef struct _CommandResponse
     };
 } __attribute__((packed)) CommandResponse;
 
-static_assert(sizeof(CommandResponse) <= MAX_DATA_LEN,
-              "CommandResponse struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
+static_assert(
+    sizeof(CommandResponse) <= MAX_DATA_LEN,
+    "CommandResponse struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
 
 /** Struct of the "Motor Speed Setpoints" channel payload. */
 typedef struct _MotorSpeed
@@ -212,13 +213,16 @@ static_assert(sizeof(RobotSpeed) <= MAX_DATA_LEN,
 /** Struct of the "Current Vehicle Data" channel payload. */
 typedef struct _VehicleData
 {
-    int32_t                  xPos;        /**< X position [mm]. */
-    int32_t                  yPos;        /**< Y position [mm]. */
-    int32_t                  orientation; /**< Orientation [mrad]. */
-    int32_t                  left;        /**< Left motor speed [mm/s]. */
-    int32_t                  right;       /**< Right motor speed [mm/s]. */
-    int32_t                  center;      /**< Center speed [mm/s]. */
-    SMPChannelPayload::Range proximity;   /**< Range at which object is found [range]. */
+    uint32_t                 timestamp;     /**< Timestamp [ms]. */
+    int32_t                  xPos;          /**< X position [mm]. */
+    int32_t                  yPos;          /**< Y position [mm]. */
+    int32_t                  orientation;   /**< Orientation [mrad]. */
+    int32_t                  left;          /**< Left motor speed [mm/s]. */
+    int32_t                  right;         /**< Right motor speed [mm/s]. */
+    int32_t                  center;        /**< Center speed [mm/s]. */
+    SMPChannelPayload::Range proximity;     /**< Range at which object is found [range]. */
+    int16_t                  accelerationX; /**< Raw acceleration in X [digit]. */
+    int16_t                  turnRateZ;     /**< Raw turn rate around Z [digit]. */
 } __attribute__((packed)) VehicleData;
 
 static_assert(sizeof(VehicleData) <= MAX_DATA_LEN,
@@ -239,8 +243,9 @@ typedef struct _LineSensorData
     uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */
 } __attribute__((packed)) LineSensorData;
 
-static_assert(sizeof(LineSensorData) <= MAX_DATA_LEN,
-              "LineSensorData struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
+static_assert(
+    sizeof(LineSensorData) <= MAX_DATA_LEN,
+    "LineSensorData struct size must be less than or equal to MAX_DATA_LEN to fit in the SerialMuxProt frame.");
 
 /******************************************************************************
  * Functions