Sample for communication between quadcopter and ground

Demo_Crazyflie_Communication/DataView.asn

+TASTE-Dataview DEFINITIONS ::=
+BEGIN
+IMPORTS T-Int32, T-UInt32, T-Int8, T-UInt8, T-Boolean FROM TASTE-BasicTypes;
+
+-- A few simple types to start with ASN.1
+MyInteger   ::= T-UInt8
+
+MyReal      ::= REAL (0.0 .. 1000.0)
+
+MyBool      ::= BOOLEAN
+
+MyEnum      ::= ENUMERATED { hello, world, howareyou }
+
+MySeq       ::= SEQUENCE {
+    input-data  MyInteger,
+    output-data MyInteger,
+    validity    ENUMERATED { valid, invalid }
+}
+
+MyChoice    ::= CHOICE {
+    a BOOLEAN,
+    b MySeq
+}
+
+MySeqOf     ::= SEQUENCE (SIZE (2)) OF MyEnum
+
+MyOctStr    ::= OCTET STRING (SIZE (3))
+
+-- You can also declare constants
+myVar       MySeqOf     ::= { hello, world }
+
+-- Packet structure
+ANGLE         ::= REAL(-360.0 .. 360.0)
+RATE          ::= REAL(-100000.0 .. 100000.0)
+T-UInt16      ::= INTEGER (0 .. 65535)
+
+GYROSCOPE     ::= REAL(-100000.0 .. 100000.0)
+ACCELERATION  ::= REAL(-16.0 .. 16.0)
+HEIGHT        ::= INTEGER (0 .. 8191)
+
+GYRO-SEQ ::= SEQUENCE {
+       x GYROSCOPE,
+       y GYROSCOPE,
+       z GYROSCOPE
+}
+
+ACC-SEQ ::= SEQUENCE {
+       x ACCELERATION,
+       y ACCELERATION,
+       z ACCELERATION
+}
+
+TM-T ::= SEQUENCE {
+    gyro  GYRO-SEQ,
+    acc   ACC-SEQ,
+    z     HEIGHT
+}
+
+TC-T ::= SEQUENCE {
+    roll   ANGLE,
+    pitch  ANGLE,
+    yaw    RATE,
+    thrust T-UInt16
+}
+
+sampleMeasurement TM-T ::= { gyro { x 0.0, y 0.0, z 0.0 }, acc { x 0.0, y 0.0, z 1.0 }, z 0 }
+
+sampleCommand TC-T ::= { roll 0.0, pitch 0.0, yaw 0.0, thrust 0 }
+
+END
+

Demo_Crazyflie_Communication/DeploymentView.aadl

+---------------------------------------------------
+-- AADL2.0
+-- TASTE
+-- 
+-- 
+---------------------------------------------------
+
+PACKAGE deploymentview::DV::Node1
+PUBLIC
+
+WITH Taste;
+WITH Deployment;
+WITH TASTE_DV_Properties;
+PROCESS x86_partition
+END x86_partition;
+
+PROCESS IMPLEMENTATION x86_partition.others
+END x86_partition.others;
+
+END deploymentview::DV::Node1;
+
+PACKAGE deploymentview::DV
+PUBLIC
+
+WITH ocarina_processors_x86;
+WITH deploymentview::DV::Node1;
+WITH Taste;
+WITH Deployment;
+WITH interfaceview::IV;
+WITH TASTE_DV_Properties;
+SYSTEM Node1
+END Node1;
+
+SYSTEM IMPLEMENTATION Node1.others
+SUBCOMPONENTS
+  IV_Function1 : SYSTEM interfaceview::IV::Function1.others {
+    Taste::coordinates => "826 959 1298 1421";
+    Taste::FunctionName => "Function1";
+  };
+  IV_Function2 : SYSTEM interfaceview::IV::Function2.others {
+    Taste::coordinates => "1441 969 1949 1395";
+    Taste::FunctionName => "Function2";
+  };
+  x86_partition : PROCESS deploymentview::DV::Node1::x86_partition.others {
+    Taste::coordinates => "676 764 2186 1556";
+    Deployment::Port_Number => 0;
+  };
+  x86_linux32 : PROCESSOR ocarina_processors_x86::x86.linux32 {
+    Taste::coordinates => "487 538 2375 1669";
+  };
+PROPERTIES
+  Taste::APLC_Binding => (reference (x86_partition)) APPLIES TO IV_Function1;
+  Taste::APLC_Binding => (reference (x86_partition)) APPLIES TO IV_Function2;
+  Actual_Processor_Binding => (reference (x86_linux32)) APPLIES TO x86_partition;
+END Node1.others;
+
+SYSTEM deploymentview
+END deploymentview;
+
+SYSTEM IMPLEMENTATION deploymentview.others
+SUBCOMPONENTS
+  Node1 : SYSTEM Node1.others {
+    Taste::coordinates => "251 215 2611 1831";
+  };
+  interfaceview : SYSTEM interfaceview::IV::interfaceview.others;
+END deploymentview.others;
+
+PROPERTIES
+  Taste::coordinates => "0 0 2970 2100";
+  Taste::version => "1.3.19";
+  Taste::interfaceView => "InterfaceView.aadl";
+  Taste::HWLibraries => ("../../tool-inst/share/ocarina/AADLv2/ocarina_components.aadl");
+END deploymentview::DV;
+

Demo_Crazyflie_Communication/InterfaceView.aadl

+---------------------------------------------------
+-- AADL2.0
+-- TASTE
+-- 
+-- 
+---------------------------------------------------
+
+PACKAGE interfaceview::FV::Function1
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_tick
+END PI_tick;
+
+SUBPROGRAM IMPLEMENTATION PI_tick.others
+END PI_tick.others;
+
+SUBPROGRAM PI_TM_from_CF
+FEATURES
+  tm_data : IN PARAMETER DataView::TM_T {
+    Taste::encoding => NATIVE;
+  };
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_TM_from_CF;
+
+SUBPROGRAM IMPLEMENTATION PI_TM_from_CF.others
+END PI_TM_from_CF.others;
+
+SUBPROGRAM RI_TC_from_TASTE
+FEATURES
+  tc_data : IN PARAMETER DataView::TC_T {
+    Taste::encoding => NATIVE;
+  };
+END RI_TC_from_TASTE;
+
+SUBPROGRAM IMPLEMENTATION RI_TC_from_TASTE.others
+END RI_TC_from_TASTE.others;
+
+END interfaceview::FV::Function1;
+
+PACKAGE interfaceview::FV::Function2
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SUBPROGRAM PI_TC_from_TASTE
+FEATURES
+  tc_data : IN PARAMETER DataView::TC_T {
+    Taste::encoding => NATIVE;
+  };
+PROPERTIES
+  Taste::Associated_Queue_Size => 1;
+END PI_TC_from_TASTE;
+
+SUBPROGRAM IMPLEMENTATION PI_TC_from_TASTE.others
+END PI_TC_from_TASTE.others;
+
+SUBPROGRAM RI_TM_from_CF
+FEATURES
+  tm_data : IN PARAMETER DataView::TM_T {
+    Taste::encoding => NATIVE;
+  };
+END RI_TM_from_CF;
+
+SUBPROGRAM IMPLEMENTATION RI_TM_from_CF.others
+END RI_TM_from_CF.others;
+
+END interfaceview::FV::Function2;
+
+PACKAGE interfaceview::IV
+PUBLIC
+
+WITH interfaceview::FV::Function1;
+WITH interfaceview::FV::Function2;
+WITH interfaceview::FV;
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+SYSTEM Function1
+FEATURES
+  PI_tick : PROVIDES SUBPROGRAM ACCESS interfaceview::FV::Function1::PI_tick.others {
+    Taste::coordinates => "939 344";
+    Taste::RCMoperationKind => cyclic;
+    Taste::RCMperiod => 100 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "tick";
+  };
+  PI_TM_from_CF : PROVIDES SUBPROGRAM ACCESS interfaceview::FV::Function1::PI_TM_from_CF.others {
+    Taste::coordinates => "1390 1185";
+    Taste::RCMoperationKind => sporadic;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 999 ms;
+    Taste::InterfaceName => "TM_from_CF";
+  };
+  RI_TC_from_TASTE : REQUIRES SUBPROGRAM ACCESS interfaceview::FV::Function2::PI_TC_from_TASTE.others {
+    Taste::coordinates => "1390 657";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "TC_from_TASTE";
+    Taste::labelInheritance => "true";
+  };
+PROPERTIES
+  Source_Language => (C);
+END Function1;
+
+SYSTEM IMPLEMENTATION Function1.others
+SUBCOMPONENTS
+  tick_impl : SUBPROGRAM interfaceview::FV::Function1::PI_tick.others {
+    Compute_Execution_Time => 0 ms .. 0 ms;
+  };
+  TM_from_CF_impl : SUBPROGRAM interfaceview::FV::Function1::PI_TM_from_CF.others {
+    Compute_Execution_Time => 0 ms .. 999 ms;
+  };
+CONNECTIONS
+  OpToPICnx_tick_impl : SUBPROGRAM ACCESS tick_impl -> PI_tick;
+  OpToPICnx_TM_from_CF_impl : SUBPROGRAM ACCESS TM_from_CF_impl -> PI_TM_from_CF;
+END Function1.others;
+
+SYSTEM Function2
+FEATURES
+  PI_TC_from_TASTE : PROVIDES SUBPROGRAM ACCESS interfaceview::FV::Function2::PI_TC_from_TASTE.others {
+    Taste::coordinates => "1888 687";
+    Taste::RCMoperationKind => sporadic;
+    Taste::RCMperiod => 0 ms;
+    Taste::Deadline => 0 ms;
+    Taste::InterfaceName => "TC_from_TASTE";
+  };
+  RI_TM_from_CF : REQUIRES SUBPROGRAM ACCESS interfaceview::FV::Function1::PI_TM_from_CF.others {
+    Taste::coordinates => "1888 1149";
+    Taste::RCMoperationKind => any;
+    Taste::InterfaceName => "TM_from_CF";
+    Taste::labelInheritance => "true";
+  };
+PROPERTIES
+  Source_Language => (GUI);
+END Function2;
+
+SYSTEM IMPLEMENTATION Function2.others
+SUBCOMPONENTS
+  TC_from_TASTE_impl : SUBPROGRAM interfaceview::FV::Function2::PI_TC_from_TASTE.others {
+    Compute_Execution_Time => 0 ms .. 0 ms;
+  };
+CONNECTIONS
+  OpToPICnx_TC_from_TASTE_impl : SUBPROGRAM ACCESS TC_from_TASTE_impl -> PI_TC_from_TASTE;
+END Function2.others;
+
+SYSTEM interfaceview
+END interfaceview;
+
+SYSTEM IMPLEMENTATION interfaceview.others
+SUBCOMPONENTS
+  Function1 : SYSTEM interfaceview::IV::Function1.others {
+    Taste::coordinates => "441 344 1390 1580";
+  };
+  Function2 : SYSTEM interfaceview::IV::Function2.others {
+    Taste::coordinates => "1888 364 2698 1585";
+  };
+CONNECTIONS
+  Function1_TM_from_CF_Function2_TM_from_CF : SUBPROGRAM ACCESS Function1.PI_TM_from_CF -> Function2.RI_TM_from_CF {
+    Taste::coordinates => "1888 1149 1636 1149 1636 1185 1390 1185";
+  };
+  Function2_TC_from_TASTE_Function1_TC_from_TASTE : SUBPROGRAM ACCESS Function2.PI_TC_from_TASTE -> Function1.RI_TC_from_TASTE {
+    Taste::coordinates => "1390 657 1636 657 1636 687 1888 687";
+  };
+END interfaceview.others;
+
+PROPERTIES
+  Taste::dataView => ("DataView");
+  Taste::dataViewPath => ("DataView.aadl");
+  Taste::coordinates => "0 0 2970 2100";
+  Taste::version => "1.3.19";
+END interfaceview::IV;
+
+PACKAGE interfaceview::FV
+PUBLIC
+
+WITH Taste;
+WITH DataView;
+WITH TASTE_IV_Properties;
+END interfaceview::FV;
+

Demo_Crazyflie_Communication/InterfaceView.md5

+4ee6d9fccbe5005c3133226797bdf1a3  InterfaceView.aadl

Demo_Crazyflie_Communication/build-script.sh

+#!/bin/bash -e
+
+# This script will build your TASTE system.
+
+# You should not change this file as it was automatically generated.
+
+# If you need additional preprocessing, there are three hook files
+# that you can provide and that are called dring the build:
+# user_init_pre.sh, user_init_post.sh and user_init_last.sh
+# These files will never get overwritten by TASTE.'
+
+# Inside these files you may set some environment variables:
+#    C_INCLUDE_PATH=/usr/include/xenomai/analogy/:${C_INCLUDE_PATH}
+#    unset USE_POHIC   
+
+CWD=$(pwd)
+
+if [ -t 0 ] ; then
+    COLORON="\e[1m\e[32m"
+    COLOROFF="\e[0m"
+else
+    COLORON=""
+    COLOROFF=""
+fi
+INFO="${COLORON}[INFO]${COLOROFF}"
+
+if [ -f user_init_pre.sh ]
+then
+    echo -e "${INFO} Executing user-defined init script"
+    source user_init_pre.sh
+fi
+
+# Use PolyORB-HI-C runtime
+USE_POHIC=1
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+INTERFACEVIEW=InterfaceView.aadl
+grep "version => \"2" InterfaceView.aadl >/dev/null && {
+    echo -e "${INFO} Converting interface view from V2 to V1.3"
+    TASTE --load-interface-view InterfaceView.aadl --export-interface-view-to-1_3 __iv_1_3.aadl
+    INTERFACEVIEW=__iv_1_3.aadl
+};
+
+if [ -z "$DEPLOYMENTVIEW" ]
+then
+    DEPLOYMENTVIEW=DeploymentView.aadl
+fi
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+grep "version => \"2" "$DEPLOYMENTVIEW" >/dev/null && {
+    echo -e "${INFO} Converting deployment view from V2 to V1.3"
+    TASTE --load-deployment-view "$DEPLOYMENTVIEW" --export-deployment-view-to-1_3 __dv_1_3.aadl
+    DEPLOYMENTVIEW=__dv_1_3.aadl
+};
+
+SKELS="./"
+
+# Check if Dataview references existing files 
+taste-extract-asn-from-design.exe -i "$INTERFACEVIEW" -j /tmp/dv.asn
+
+cd "$SKELS" && rm -f function1.zip && zip function1 function1/* && cd $OLDPWD
+
+[ ! -z "$CLEANUP" ] && rm -rf binary*
+
+if [ -f ConcurrencyView.pro ]
+then
+    ORCHESTRATOR_OPTIONS+=" -w ConcurrencyView.pro "
+fi
+
+if [ -f user_init_post.sh ]
+then
+    echo -e "${INFO} Executing user-defined post-init script"
+    source user_init_post.sh
+fi
+
+if [ ! -z "$USE_POHIC" ]
+then
+    OUTPUTDIR=binary.c
+    ORCHESTRATOR_OPTIONS+=" -p "
+elif [ ! -z "$USE_POHIADA" ]
+then
+    OUTPUTDIR=binary.ada
+else
+    OUTPUTDIR=binary
+fi
+
+cd "$CWD" && assert-builder-ocarina.py \
+	--fast \
+	--debug \
+	--aadlv2 \
+	--keep-case \
+	--interfaceView "$INTERFACEVIEW" \
+	--deploymentView "$DEPLOYMENTVIEW" \
+	-o "$OUTPUTDIR" \
+	--subC function1:"$SKELS"/function1.zip \
+	$ORCHESTRATOR_OPTIONS
+
+if [ -f user_init_last.sh ]
+then
+    echo -e "${INFO} Executing user-defined post-build script"
+    source user_init_last.sh
+fi
+

Demo_Crazyflie_Communication/build-script.sh.old

+#!/bin/bash -e
+
+# This script will build your TASTE system.
+
+# You should not change this file as it was automatically generated.
+
+# If you need additional preprocessing, there are three hook files
+# that you can provide and that are called dring the build:
+# user_init_pre.sh, user_init_post.sh and user_init_last.sh
+# These files will never get overwritten by TASTE.'
+
+# Inside these files you may set some environment variables:
+#    C_INCLUDE_PATH=/usr/include/xenomai/analogy/:${C_INCLUDE_PATH}
+#    unset USE_POHIC   
+
+CWD=$(pwd)
+
+if [ -t 0 ] ; then
+    COLORON="\e[1m\e[32m"
+    COLOROFF="\e[0m"
+else
+    COLORON=""
+    COLOROFF=""
+fi
+INFO="${COLORON}[INFO]${COLOROFF}"
+
+if [ -f user_init_pre.sh ]
+then
+    echo -e "${INFO} Executing user-defined init script"
+    source user_init_pre.sh
+fi
+
+# Use PolyORB-HI-C runtime
+USE_POHIC=1
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+INTERFACEVIEW=InterfaceView.aadl
+grep "version => \"2" InterfaceView.aadl >/dev/null && {
+    echo -e "${INFO} Converting interface view from V2 to V1.3"
+    TASTE --load-interface-view InterfaceView.aadl --export-interface-view-to-1_3 __iv_1_3.aadl
+    INTERFACEVIEW=__iv_1_3.aadl
+};
+
+if [ -z "$DEPLOYMENTVIEW" ]
+then
+    DEPLOYMENTVIEW=DeploymentView.aadl
+fi
+
+# Detect models from Ellidiss tools v2, and convert them to 1.3
+grep "version => \"2" "$DEPLOYMENTVIEW" >/dev/null && {
+    echo -e "${INFO} Converting deployment view from V2 to V1.3"
+    TASTE --load-deployment-view "$DEPLOYMENTVIEW" --export-deployment-view-to-1_3 __dv_1_3.aadl
+    DEPLOYMENTVIEW=__dv_1_3.aadl
+};
+
+SKELS="./"
+
+# Check if Dataview references existing files 
+taste-extract-asn-from-design.exe -i "$INTERFACEVIEW" -j /tmp/dv.asn
+
+cd "$SKELS" && rm -f function1.zip && zip function1 function1/* && cd $OLDPWD
+
+[ ! -z "$CLEANUP" ] && rm -rf binary*
+
+if [ -f ConcurrencyView.pro ]
+then
+    ORCHESTRATOR_OPTIONS+=" -w ConcurrencyView.pro "
+fi
+
+if [ -f user_init_post.sh ]
+then
+    echo -e "${INFO} Executing user-defined post-init script"
+    source user_init_post.sh
+fi
+
+if [ ! -z "$USE_POHIC" ]
+then
+    OUTPUTDIR=binary.c
+    ORCHESTRATOR_OPTIONS+=" -p "
+elif [ ! -z "$USE_POHIADA" ]
+then
+    OUTPUTDIR=binary.ada
+else
+    OUTPUTDIR=binary
+fi
+
+cd "$CWD" && assert-builder-ocarina.py \
+	--fast \
+	--debug \
+	--aadlv2 \
+	--keep-case \
+	--interfaceView "$INTERFACEVIEW" \
+	--deploymentView "$DEPLOYMENTVIEW" \
+	-o "$OUTPUTDIR" \
+	--subC function1:"$SKELS"/function1.zip \
+	$ORCHESTRATOR_OPTIONS
+
+if [ -f user_init_last.sh ]
+then
+    echo -e "${INFO} Executing user-defined post-build script"
+    source user_init_last.sh
+fi
+

Demo_Crazyflie_Communication/function1/function1.c

+/* User code: This file will not be overwritten by TASTE. */
+
+#include <stdio.h>
+
+#include "function1.h"
+
+void function1_startup()
+{
+    /* Write your initialization code here,
+       but do not make any call to a required interface. */
+}
+
+void function1_PI_tick()
+{
+    static int cnt = 0;
+    
+    asn1SccTC_T commands;
+    
+    commands.roll = 0.0;
+    commands.pitch = 0.0;
+    commands.yaw = 0.0;
+    commands.thrust = 1000;
+    
+    /* Write your code here! */
+    function1_RI_TC_from_TASTE(&commands);
+}
+
+void function1_PI_TM_from_CF(const asn1SccTM_T *IN_tm_data)
+{
+    /* Write your code here! */
+    
+    asn1SccTM_T tm_data = *IN_tm_data;
+    
+    printf("Gyro   : (%.6f | %.6f | %.6f)\n", tm_data.gyro.x, tm_data.gyro.y, tm_data.gyro.z);
+    printf("Acc    : (%.6f | %.6f | %.6f)\n", tm_data.acc.x, tm_data.acc.y, tm_data.acc.z);
+    printf("Height : (%d)\n\n", tm_data.z);
+
+    //fflush(stdout);
+}
+

Demo_Crazyflie_Communication/function1/function1.h

+/* This file was generated automatically: DO NOT MODIFY IT ! */
+
+/* Declaration of the functions that have to be provided by the user */
+
+#ifndef __USER_CODE_H_function1__
+#define __USER_CODE_H_function1__
+
+#include "C_ASN1_Types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void function1_startup();
+
+void function1_PI_tick();
+
+void function1_PI_TM_from_CF(const asn1SccTM_T *);
+
+extern void function1_RI_TC_from_TASTE(const asn1SccTC_T *);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif

Demo_Crazyflie_Communication/function2-GUI/DV.py

+MyReal_REQUIRED_BYTES_FOR_ENCODING = 13
+MyReal_REQUIRED_BYTES_FOR_ACN_ENCODING = 13
+MyReal_REQUIRED_BYTES_FOR_XER_ENCODING = 67
+MyBool_REQUIRED_BYTES_FOR_ENCODING = 1
+MyBool_REQUIRED_BYTES_FOR_ACN_ENCODING = 1
+MyBool_REQUIRED_BYTES_FOR_XER_ENCODING = 30
+MyEnum_REQUIRED_BYTES_FOR_ENCODING = 1
+MyEnum_REQUIRED_BYTES_FOR_ACN_ENCODING = 1
+MyEnum_REQUIRED_BYTES_FOR_XER_ENCODING = 30
+MySeqOf_REQUIRED_BYTES_FOR_ENCODING = 1
+MySeqOf_REQUIRED_BYTES_FOR_ACN_ENCODING = 1
+MySeqOf_REQUIRED_BYTES_FOR_XER_ENCODING = 55
+MyOctStr_REQUIRED_BYTES_FOR_ENCODING = 3
+MyOctStr_REQUIRED_BYTES_FOR_ACN_ENCODING = 3
+MyOctStr_REQUIRED_BYTES_FOR_XER_ENCODING = 27
+ANGLE_REQUIRED_BYTES_FOR_ENCODING = 13
+ANGLE_REQUIRED_BYTES_FOR_ACN_ENCODING = 13
+ANGLE_REQUIRED_BYTES_FOR_XER_ENCODING = 65
+RATE_REQUIRED_BYTES_FOR_ENCODING = 13
+RATE_REQUIRED_BYTES_FOR_ACN_ENCODING = 13
+RATE_REQUIRED_BYTES_FOR_XER_ENCODING = 63
+T_UInt16_REQUIRED_BYTES_FOR_ENCODING = 2
+T_UInt16_REQUIRED_BYTES_FOR_ACN_ENCODING = 2
+T_UInt16_REQUIRED_BYTES_FOR_XER_ENCODING = 41
+TC_T_REQUIRED_BYTES_FOR_ENCODING = 41
+TC_T_REQUIRED_BYTES_FOR_ACN_ENCODING = 41
+TC_T_REQUIRED_BYTES_FOR_XER_ENCODING = 239
+GYROSCOPE_REQUIRED_BYTES_FOR_ENCODING = 13
+GYROSCOPE_REQUIRED_BYTES_FOR_ACN_ENCODING = 13
+GYROSCOPE_REQUIRED_BYTES_FOR_XER_ENCODING = 73
+GYRO_SEQ_REQUIRED_BYTES_FOR_ENCODING = 39
+GYRO_SEQ_REQUIRED_BYTES_FOR_ACN_ENCODING = 39
+GYRO_SEQ_REQUIRED_BYTES_FOR_XER_ENCODING = 192
+ACCELERATION_REQUIRED_BYTES_FOR_ENCODING = 13
+ACCELERATION_REQUIRED_BYTES_FOR_ACN_ENCODING = 13
+ACCELERATION_REQUIRED_BYTES_FOR_XER_ENCODING = 79
+ACC_SEQ_REQUIRED_BYTES_FOR_ENCODING = 39
+ACC_SEQ_REQUIRED_BYTES_FOR_ACN_ENCODING = 39
+ACC_SEQ_REQUIRED_BYTES_FOR_XER_ENCODING = 190
+HEIGHT_REQUIRED_BYTES_FOR_ENCODING = 2
+HEIGHT_REQUIRED_BYTES_FOR_ACN_ENCODING = 2
+HEIGHT_REQUIRED_BYTES_FOR_XER_ENCODING = 37
+TM_T_REQUIRED_BYTES_FOR_ENCODING = 80
+TM_T_REQUIRED_BYTES_FOR_ACN_ENCODING = 80
+TM_T_REQUIRED_BYTES_FOR_XER_ENCODING = 406
+MySeq_validity_REQUIRED_BYTES_FOR_ENCODING = 1
+MySeq_validity_REQUIRED_BYTES_FOR_ACN_ENCODING = 1
+MySeq_validity_REQUIRED_BYTES_FOR_XER_ENCODING = 46
+T_Int32_REQUIRED_BYTES_FOR_ENCODING = 4
+T_Int32_REQUIRED_BYTES_FOR_ACN_ENCODING = 4
+T_Int32_REQUIRED_BYTES_FOR_XER_ENCODING = 39
+T_UInt32_REQUIRED_BYTES_FOR_ENCODING = 4
+T_UInt32_REQUIRED_BYTES_FOR_ACN_ENCODING = 4
+T_UInt32_REQUIRED_BYTES_FOR_XER_ENCODING = 41
+T_Int8_REQUIRED_BYTES_FOR_ENCODING = 1
+T_Int8_REQUIRED_BYTES_FOR_ACN_ENCODING = 1
+T_Int8_REQUIRED_BYTES_FOR_XER_ENCODING = 37