Add to string functions for all enums

Fusion/FusionConvention.c

@@ -0,0 +1,33 @@
+/**
+ * @file FusionConvention.c
+ * @author Seb Madgwick
+ * @brief Earth axes convention.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionConvention.h"
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Returns a string representation of the earth axes convention.
+ * @param convention Earth axes convention.
+ * @return String representation of the earth axes convention.
+ */
+const char *FusionConventionToString(const FusionConvention convention) {
+    switch (convention) {
+        case FusionConventionNwu:
+            return "North, West, Up (NWU)";
+        case FusionConventionEnu:
+            return "East, North, Up (ENU)";
+        case FusionConventionNed:
+            return "North, East, Down (NED)";
+    }
+    return ""; // avoid compiler warning
+}
+
+//------------------------------------------------------------------------------
+// End of file

Fusion/FusionConvention.h

@@ -20,6 +20,11 @@ typedef enum {
     FusionConventionNed, /* North, East, Down (NED) */
 } FusionConvention;
 
+//------------------------------------------------------------------------------
+// Function declarations
+
+const char *FusionConventionToString(const FusionConvention convention);
+
 #endif
 
 //------------------------------------------------------------------------------

Fusion/FusionRemap.c

@@ -0,0 +1,75 @@
+/**
+ * @file FusionRemap.c
+ * @author Seb Madgwick
+ * @brief Remaps the sensor axes to the body frame.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionRemap.h"
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Returns a string representation of the alignment.
+ * @param alignment Alignment.
+ * @return String representation of the alignment.
+ */
+const char *FusionRemapAlignmentToString(const FusionRemapAlignment alignment) {
+    switch (alignment) {
+        case FusionRemapAlignmentPXPYPZ:
+            return "+X+Y+Z";
+        case FusionRemapAlignmentPXPZNY:
+            return "+X+Z-Y";
+        case FusionRemapAlignmentPXNZPY:
+            return "+X-Z+Y";
+        case FusionRemapAlignmentPXNYNZ:
+            return "+X-Y-Z";
+        case FusionRemapAlignmentPYPXNZ:
+            return "+Y+X-Z";
+        case FusionRemapAlignmentPYPZPX:
+            return "+Y+Z+X";
+        case FusionRemapAlignmentPYNZNX:
+            return "+Y-Z-X";
+        case FusionRemapAlignmentPYNXPZ:
+            return "+Y-X+Z";
+        case FusionRemapAlignmentPZPXPY:
+            return "+Z+X+Y";
+        case FusionRemapAlignmentPZPYNX:
+            return "+Z+Y-X";
+        case FusionRemapAlignmentPZNYPX:
+            return "+Z-Y+X";
+        case FusionRemapAlignmentPZNXNY:
+            return "+Z-X-Y";
+        case FusionRemapAlignmentNZPXNY:
+            return "-Z+X-Y";
+        case FusionRemapAlignmentNZPYPX:
+            return "-Z+Y+X";
+        case FusionRemapAlignmentNZNYNX:
+            return "-Z-Y-X";
+        case FusionRemapAlignmentNZNXPY:
+            return "-Z-X+Y";
+        case FusionRemapAlignmentNYPXPZ:
+            return "-Y+X+Z";
+        case FusionRemapAlignmentNYPZNX:
+            return "-Y+Z-X";
+        case FusionRemapAlignmentNYNZPX:
+            return "-Y-Z+X";
+        case FusionRemapAlignmentNYNXNZ:
+            return "-Y-X-Z";
+        case FusionRemapAlignmentNXPYNZ:
+            return "-X+Y-Z";
+        case FusionRemapAlignmentNXPZPY:
+            return "-X+Z+Y";
+        case FusionRemapAlignmentNXNZNY:
+            return "-X-Z-Y";
+        case FusionRemapAlignmentNXNYPZ:
+            return "-X-Y+Z";
+    }
+    return ""; // avoid compiler warning
+}
+
+//------------------------------------------------------------------------------
+// End of file

Fusion/FusionRemap.h

@@ -49,6 +49,11 @@ typedef enum {
     FusionRemapAlignmentNXNYPZ, /* -X-Y+Z */
 } FusionRemapAlignment;
 
+//------------------------------------------------------------------------------
+// Function declarations
+
+const char *FusionRemapAlignmentToString(const FusionRemapAlignment alignment);
+
 //------------------------------------------------------------------------------
 // Inline functions
 

Python/imufusion-stubs/__init__.pyi

@@ -31,6 +31,9 @@ CONVENTION_NED: int
 # compass_methods
 def compass(accelerometer: np.ndarray, magnetometer: np.ndarray, convention: int = ...) -> float: ...
 
+# convention_methods
+def convention_to_string(convention: int) -> str: ...
+
 # convert_methods
 def quaternion_to_matrix(quaternion: np.ndarray) -> np.ndarray: ...
 def quaternion_to_euler(quaternion: np.ndarray) -> np.ndarray: ...
@@ -50,6 +53,7 @@ def model_magnetic(
 
 # remap_methods
 def remap(sensor: np.ndarray, alignment: int) -> np.ndarray: ...
+def alignment_to_string(alignment: int) -> str: ...
 
 # ahrs_object
 class Ahrs:

Python/imufusion/Convention.h

@@ -17,4 +17,19 @@ static int convention_from(FusionConvention *const convention, const int convent
     return -1;
 }
 
+static PyObject *convention_to_string(PyObject *null, PyObject *arg) {
+    const long convention = PyLong_AsLong(arg);
+
+    if (PyErr_Occurred()) {
+        return NULL;
+    }
+
+    return PyUnicode_FromString(FusionConventionToString((FusionConvention) convention));
+}
+
+static PyMethodDef convention_methods[] = {
+    {"convention_to_string", (PyCFunction) convention_to_string, METH_O, ""},
+    {NULL} /* sentinel */
+};
+
 #endif

Python/imufusion/Remap.h

@@ -64,8 +64,19 @@ static PyObject *remap(PyObject *self, PyObject *args) {
     return np_array_1x3_from(remapped_sensor.array);
 }
 
+static PyObject *alignment_to_string(PyObject *null, PyObject *arg) {
+    const long alignment = PyLong_AsLong(arg);
+
+    if (PyErr_Occurred()) {
+        return NULL;
+    }
+
+    return PyUnicode_FromString(FusionRemapAlignmentToString((FusionRemapAlignment) alignment));
+}
+
 static PyMethodDef remap_methods[] = {
     {"remap", (PyCFunction) remap, METH_VARARGS, ""},
+    {"alignment_to_string", (PyCFunction) alignment_to_string, METH_O, ""},
     {NULL} /* sentinel */
 };
 

Python/imufusion/imufusion.c

@@ -5,6 +5,7 @@
 #include "Bias.h"
 #include "BiasSettings.h"
 #include "Compass.h"
+#include "Convention.h"
 #include "Convert.h"
 #include "Model.h"
 #include <Python.h>
@@ -66,6 +67,7 @@ PyMODINIT_FUNC PyInit_imufusion() {
         (PyModule_AddIntConstant(module, "CONVENTION_ENU", FusionConventionEnu) == 0) &&
         (PyModule_AddIntConstant(module, "CONVENTION_NED", FusionConventionNed) == 0) &&
         (PyModule_AddFunctions(module, compass_methods) == 0) &&
+        (PyModule_AddFunctions(module, convention_methods) == 0) &&
         (PyModule_AddFunctions(module, convert_methods) == 0) &&
         (PyModule_AddFunctions(module, model_methods) == 0) &&
         (PyModule_AddFunctions(module, remap_methods) == 0) &&

setup.py

@@ -9,6 +9,8 @@
         "Fusion/FusionAhrs.c",
         "Fusion/FusionBias.c",
         "Fusion/FusionCompass.c",
+        "Fusion/FusionConvention.c",
+        "Fusion/FusionRemap.c",
         "Python/imufusion/imufusion.c",
     ],
     include_dirs=[numpy.get_include()],