refactor: remove wrapper, serializarion folder

Author: Ilyhadev

examples/ubuntu/main.cpp

@@ -187,8 +187,8 @@ int main() {
     DronecanSubscriber<RawCommand_t> raw_command_sub2;
     raw_command_sub2.init(&rc2_callback);
 
-    libdcnode::DronecanPeriodicPublisher<uavcan_equipment_power_CircuitStatus> circuit_status(2.0f);
-    libdcnode::DronecanPeriodicPublisher<uavcan_equipment_power_BatteryInfo> battery_info(1.0f);
+    libdcnode::DronecanPeriodicPub<uavcan_equipment_power_CircuitStatus> circuit_status(2.0f);
+    libdcnode::DronecanPeriodicPub<uavcan_equipment_power_BatteryInfo> battery_info(1.0f);
 
     while (platformSpecificGetTimeMs() < 50000) {
         circuit_status.msg.voltage = 5.0;

include/libdcnode/legacy/uavcan/com/rl/vibration/Measurement.h

@@ -1,66 +1,79 @@
+/*
+ * Copyright (C) 2025 Ilia Kliantsevich <iliawork112005gmail.com>
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
 
-typedef struct dsdl_com_rl_vibration_Measurement VibrationMeasurement_t;
+#ifndef VIBRATION_H_
+#define VIBRATION_H_
 
-#define COM_RL_VIBRATION_MEASUREMENT_ID        DSDL_COM_RL_VIBRATION_MEASUREMENT_ID
-#define COM_RL_VIBRATION_MEASUREMENT_SIGNATURE DSDL_COM_RL_VIBRATION_MEASUREMENT_SIGNATURE
-#define COM_RL_VIBRATION_MEASUREMENT_MAX_SIZE  DSDL_COM_RL_VIBRATION_MEASUREMENT_MAX_SIZE
-
-#include "libdcnode/serialization/uavcan/include/dsdl.com.rl.vibration.Measurement.h"
+#include <stdint.h>
+#include <stdbool.h>
 #include "libdcnode/dronecan.h"
 #include "libdcnode/serialization_internal.h"
 
-static inline int8_t com_rl_vibration_measurement_serialize(
-    const VibrationMeasurement_t* const obj,
+/**
+ * @brief uavcan.mpu.Vibration
+ * @note Mpu vibration measurements based on FFT
+ */
+#define VIBRATION_ID                  20105
+#define VIBRATION_SIGNATURE           0xCB6C085C090925A8ULL // I used function signature.compute_signature from dronecan.dsdl
+#define VIBRATION_MESSAGE_SIZE        7  // 1 + 2 + 2 + 2 = 7 bytes
+#define VIBRATION                     UAVCAN_EXPAND(VIBRATION)
+
+typedef struct {
+    uint8_t id;                         // uint8
+    float vibration_metrics;            // float16
+    float dominant_frequency;           // float16  
+    float dominant_snr;                 // float16
+} Mpu_vibration;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static inline int8_t dronecan_mpu_vibration_serialize(
+    const Mpu_vibration* const obj,
     uint8_t* const buffer,
     size_t* const inout_buffer_size_bytes)
 {
-    if ((obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL))
+    if ((obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL)) {
         return -2;
-    if (*inout_buffer_size_bytes < COM_RL_VIBRATION_MEASUREMENT_MAX_SIZE)
+    }
+
+    const size_t capacity_bytes = *inout_buffer_size_bytes;
+    if (capacity_bytes < VIBRATION_MESSAGE_SIZE) {
         return -3;
-    
-    uint32_t byte_count = dsdl_com_rl_vibration_Measurement_encode(
-        (struct dsdl_com_rl_vibration_Measurement*)obj, buffer
-#if CANARD_ENABLE_TAO_OPTION
-        , true
-#endif
-    );
-    
-    *inout_buffer_size_bytes = byte_count;
-    return 0;
-}
+    }
 
+    canardEncodeScalar(buffer, 0, 8, &obj->id);
+    canardEncodeFloat16(buffer, 8, obj->vibration_metrics);
+    canardEncodeFloat16(buffer, 24, obj->dominant_frequency);
+    canardEncodeFloat16(buffer, 40, obj->dominant_snr);
 
-static inline int8_t com_rl_vibration_measurement_deserialize(
-    const CanardRxTransfer* transfer,
-    VibrationMeasurement_t* msg)
-{
-    if ((transfer == NULL) || (msg == NULL))
-        return -2;
-    
-    bool decode_failed = dsdl_com_rl_vibration_Measurement_decode(transfer, msg);
-    return decode_failed ? -1 : 0;
+    return 0;
 }
 
-// Publish function
-static inline int8_t dronecan_com_rl_vibration_measurement_publish(
-    const VibrationMeasurement_t* const obj,
+static inline int8_t dronecan_mpu_vibration_publish(
+    const Mpu_vibration* const obj,
     uint8_t* inout_transfer_id)
 {
-    if ((obj == NULL) || (inout_transfer_id == NULL))
-        return -2;
-
-    uint8_t buffer[COM_RL_VIBRATION_MEASUREMENT_MAX_SIZE];
-    size_t buffer_size = COM_RL_VIBRATION_MEASUREMENT_MAX_SIZE;
-
-    int8_t res = com_rl_vibration_measurement_serialize(obj, buffer, &buffer_size);
-    if (res != 0)
-        return res;
-
-    uavcanPublish(COM_RL_VIBRATION_MEASUREMENT_SIGNATURE,
-                  COM_RL_VIBRATION_MEASUREMENT_ID,
+    uint8_t buffer[VIBRATION_MESSAGE_SIZE];
+    size_t inout_buffer_size = VIBRATION_MESSAGE_SIZE;
+    dronecan_mpu_vibration_serialize(obj, buffer, &inout_buffer_size);
+    uavcanPublish(VIBRATION_SIGNATURE,
+                  VIBRATION_ID,
                   inout_transfer_id,
                   CANARD_TRANSFER_PRIORITY_MEDIUM,
-                  buffer, buffer_size);
+                  buffer,
+                  VIBRATION_MESSAGE_SIZE);
+
     return 0;
 }
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // VIBRATION_H_

include/libdcnode/publisher.hpp

@@ -67,8 +67,8 @@ DEFINE_PUBLISHER_TRAITS(Hygrometer,         dronecan_sensors_hygrometer_hygromet
 DEFINE_PUBLISHER_TRAITS(LightsCommand_t,    dronecan_equipment_indication_lights_command_publish)
 DEFINE_PUBLISHER_TRAITS(RangeSensorMeasurement_t,
                                             dronecan_equipment_range_sensor_measurement_publish)
-DEFINE_PUBLISHER_TRAITS(VibrationMeasurement_t,
-                        dronecan_com_rl_vibration_measurement_publish)
+DEFINE_PUBLISHER_TRAITS(Mpu_vibration,
+                                            dronecan_mpu_vibration_publish)
 
 template <typename MessageType>
 class DronecanPublisher {