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Improve OmniScan 3D Python code generation #227

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ab36d59
Omniscan3d updated to be more python friendly
Jun 5, 2026
1353e3d
Format Omniscan3D JSON definition
Jun 11, 2026
ddda513
Fix packet length for os3d_set_ping_params
steve-at-oblique Jun 12, 2026
6390737
Omniscan3d updated to be more python friendly
steve-at-oblique Jun 5, 2026
34ba0f2
Format Omniscan3D JSON definition
steve-at-oblique Jun 12, 2026
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146 changes: 115 additions & 31 deletions src/definitions/omniscan3d.json
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -56,14 +56,14 @@
},
{
"default": 0,
"name": "reserved",
"name": "reserved1",
"type": "u16",
"description": "set to 0"
},
{
"default": 0,
"name": "diagnostic injected signal",
"type": "u16",
"name": "diagnostic_injected_signal",
"type": "u8",
"description": "must be set to 0"
},
{
Expand All @@ -87,7 +87,7 @@
{
"default": "False",
"description": "set to false",
"name": "reserved",
"name": "reserved2",
"type": "bool"
},
{
Expand All @@ -110,7 +110,7 @@
},
{
"default": 0,
"name": "reserved",
"name": "reserved3",
"description": "set to 0",
"type": "u16"
},
Expand All @@ -129,19 +129,39 @@
"notes": "This data pertains to the IMU in the RX16 module. Note the 'dot' on one corner of the face of the RX16 module. The zero pitch and roll orientation is with the transducer face pointing downward with the 'dot' toward the forward/starboard corner. Roll is positive as starboard side rolls downward and port side up. Pitch is positive when the forward axis is rotated downwards.<br><br>To compute pitch and roll from the up_vec:<br><br>Pitch = asin(-up_vec.x);<br><br>Roll = atan2(up_vec.y, up_vec.z);<br><br>We may support a calibrated magnetic vector in the future, but currently a heading signal from another source is required.",
"payload": [
{
"name": "up_vec",
"type": "vec3",
"description": "world up vector (x,y,z) in the device coordinate system (x forward, y port, z up)."
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_x",
"type": "float"
},
{
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_y",
"type": "float"
},
{
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_z",
"type": "float"
},
{
"description": "reserved for future magnetic field vector",
"name": "reserved_1",
"type": "float"
},
{
"name": "reserved",
"type": "vec3",
"description": "reserved for future magnetic field vector"
"description": "reserved for future magnetic field vector",
"name": "reserved_2",
"type": "float"
},
{
"description": "reserved for future magnetic field vector",
"name": "reserved_3",
"type": "float"
},
{
"name": "utc_msec",
"type": "u64",
"description": "utc msec (1970 epoc). Will be 0 if not available.",
"description": "utc msec (1970 epoch). Will be 0 if not available.",
"units": "ms"
},
{
Expand Down Expand Up @@ -177,19 +197,19 @@
"description": "number of points reported in the points field"
},
{
"name": "unused",
"name": "unused_1",
"type": "u16",
"description": "0"
},
{
"name": "unused",
"name": "unused_2",
"type": "u32",
"description": "0"
},
{
"name": "utc_msec",
"type": "u64",
"description": "ime at start of ping, UTC milliseconds (1970 epoch). Will be 0 if not available.",
"description": "time at start of ping, UTC milliseconds (1970 epoch). Will be 0 if not available.",
"units": "ms"
},
{
Expand All @@ -204,17 +224,17 @@
"description": "1. There was a previous version (0), see note below"
},
{
"name": "device number",
"name": "device_number",
"type": "u8",
"description": "must be < number of devices (so it will be 0 for a single device)"
},
{
"name": "unused",
"name": "unused_3",
"type": "u8",
"description": "0"
},
{
"name": "reserved",
"name": "reserved_1",
"type": "u8",
"description": "0"
},
Expand All @@ -234,14 +254,58 @@
"description": "This is a more liberal power level. If point_data is filtered with this threshold"
},
{
"name": "reserved[9]",
"name": "reserved2_0",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_1",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_2",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_3",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_4",
"type": "u32",
"description": "reserved for future (9 words)"
"description": "reserved for future"
},
{
"name": "point_data[num_points]",
"type": "atof_t",
"description": "see above for atof_t definition"
"name": "reserved2_5",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_6",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_7",
"type": "u32",
"description": "reserved for future"
},
{
"name": "reserved2_8",
"type": "u32",
"description": "reserved for future"
},
{
"name": "atof_point_data",
"type": "vector",
"vector": {
"datatype": "atof_t",
"size": "dynamic"
},
"description": "see below for atof_t definition"
}
]
},
Expand All @@ -250,7 +314,7 @@
"description": "<b>Payload Definition</b>",
"payload": [
{
"name": "reserved",
"name": "reserved1",
"type": "u32",
"description": "deprecated, may be repurposed in future"
},
Expand All @@ -267,9 +331,19 @@
"units": "m"
},
{
"description": "see description in ATTITUDE_REPORT",
"name": "up-vec",
"type": "vec3"
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_x",
"type": "float"
},
{
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_y",
"type": "float"
},
{
"description": "World up vector (x, y, z) in the device coordinate system (x forward, y port, z up)",
"name": "up_vec_z",
"type": "float"
},
{
"name": "ping_number",
Expand All @@ -293,11 +367,21 @@
},
{
"description": "reserved for future implementation",
"name": "mag_vec",
"type": "vec3"
"name": "mag_vec_x",
"type": "float"
},
{
"description": "reserved for future implementation",
"name": "mag_vec_y",
"type": "float"
},
{
"description": "reserved for future implementation",
"name": "mag_vec_z",
"type": "float"
},
{
"description": "acutal ping hz (may differ from requested)",
"description": "actual ping hz (may differ from requested)",
"name": "ping_hz_realized",
"type": "float"
},
Expand Down Expand Up @@ -345,4 +429,4 @@
}
}
}
}
}
2 changes: 2 additions & 0 deletions src/generator.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,8 @@ def convert_c_name(self, name):
return new_name + 'Update'

def get_c_size(self, t):
if t == 'atof_t':
return 16
# this regex will get the X in u/intX_t (uint8_t, int16_t)
match = re.search('[0-9]{1,2}', t)
if match:
Expand Down
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