marvelmind.h

#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>

// ----- Required for Visual Studio
#if defined(WIN32) || defined(_WIN64)
#ifdef _CRT_SECURE_NO_WARNINGS
#undef _CRT_SECURE_NO_WARNINGS
#endif
#define _CRT_SECURE_NO_WARNINGS 1
#pragma warning(disable:4996)
#endif
// ----- 

#define DATA_INPUT_SEMAPHORE "/mm_data_input_semaphore"

#ifdef _WIN64
#define SERIAL_FILENAME const wchar_t*
#else
#define SERIAL_FILENAME const char*
#endif

typedef union {
  uint32_t timestamp32;
  int64_t timestamp64;
} TimestampOpt;

struct PositionValue
{
    uint8_t address;

    TimestampOpt timestamp;
    bool realTime;

    int32_t x, y, z;// coordinates in millimeters

    uint8_t flags;

    double angle;

    bool highResolution;

    bool ready;
    bool processed;
};

struct RawIMUValue
{
    int16_t acc_x;
    int16_t acc_y;
    int16_t acc_z;

    int16_t gyro_x;
    int16_t gyro_y;
    int16_t gyro_z;

    int16_t compass_x;
    int16_t compass_y;
    int16_t compass_z;

    TimestampOpt timestamp;
    bool realTime;

    bool updated;
};

struct FusionIMUValue
{
    int32_t x;
    int32_t y;
    int32_t z;// coordinates in mm

    int16_t qw;
    int16_t qx;
    int16_t qy;
    int16_t qz;// quaternion, normalized to 10000

    int16_t vx;
    int16_t vy;
    int16_t vz;// velocity, mm/s

    int16_t ax;
    int16_t ay;
    int16_t az;// acceleration, mm/s^2

    TimestampOpt timestamp;
    bool realTime;

    bool updated;
};

struct RawDistanceItem
{
  uint8_t address_beacon;
  uint32_t distance;// distance, mm
};
struct RawDistances
{
    uint8_t address_hedge;
    struct RawDistanceItem distances[4];

    TimestampOpt timestamp;
    bool realTime;

    uint16_t timeShift;

    bool updated;
};

struct StationaryBeaconPosition
{
    uint8_t address;
    int32_t x, y, z;// coordinates in millimeters

    bool highResolution;
};
#define MAX_STATIONARY_BEACONS 30
struct StationaryBeaconsPositions
{
    uint8_t numBeacons;
    struct StationaryBeaconPosition beacons[MAX_STATIONARY_BEACONS];

    bool updated;
};

struct TelemetryData
{
    uint16_t vbat_mv;
    int8_t rssi_dbm;

    bool updated;
};

struct QualityData
{
    uint8_t address;
    uint8_t quality_per;

    bool updated;
};

#define MAX_BUFFERED_POSITIONS 1
struct MarvelmindHedge
{
// serial port device name (physical or USB/virtual). It should be provided as
// an argument:
// /dev/ttyACM0 - typical for Linux / Raspberry Pi
// /dev/tty.usbmodem1451 - typical for Mac OS X
    SERIAL_FILENAME ttyFileName;

// Baud rate. Should be match to baudrate of hedgehog-beacon
// default: 9600
    uint32_t baudRate;

// buffer of measurements
    struct PositionValue * positionBuffer;

    struct StationaryBeaconsPositions positionsBeacons;

    struct RawIMUValue rawIMU;
    struct FusionIMUValue fusionIMU;

    struct RawDistances rawDistances;

    struct TelemetryData telemetry;
    struct QualityData quality;

    int timeOffset;

// verbose flag which activate console output
//		default: False
    bool verbose;

//	pause flag. If True, class would not read serial data
    bool pause;

//  If True, thread would exit from main loop and stop
    bool terminationRequired;

//  receiveDataCallback is callback function to recieve data
    void (*receiveDataCallback)(struct PositionValue position);
    void (*anyInputPacketCallback)();

// private variables
    uint8_t lastValuesCount_;
    uint8_t lastValues_next;
    bool haveNewValues_;
#if defined(WIN32) || defined(_WIN64)
    HANDLE thread_;
    CRITICAL_SECTION lock_;
#else
    pthread_t thread_;
    pthread_mutex_t lock_;
#endif
};

#define POSITION_DATAGRAM_ID 0x0001
#define BEACONS_POSITIONS_DATAGRAM_ID 0x0002
#define POSITION_DATAGRAM_HIGHRES_ID 0x0011
#define BEACONS_POSITIONS_DATAGRAM_HIGHRES_ID 0x0012
#define IMU_RAW_DATAGRAM_ID 0x0003
#define BEACON_RAW_DISTANCE_DATAGRAM_ID 0x0004
#define IMU_FUSION_DATAGRAM_ID 0x0005
#define TELEMETRY_DATAGRAM_ID 0x0006
#define QUALITY_DATAGRAM_ID 0x0007
#define NT_POSITION_DATAGRAM_HIGHRES_ID 0x0081
#define NT_IMU_RAW_DATAGRAM_ID 0x0083
#define NT_BEACON_RAW_DISTANCE_DATAGRAM_ID 0x0084
#define NT_IMU_FUSION_DATAGRAM_ID 0x0085
#define WAYPOINT_DATAGRAM_ID 0x0201

struct MarvelmindHedge * createMarvelmindHedge ();
void destroyMarvelmindHedge (struct MarvelmindHedge * hedge);
void startMarvelmindHedge (struct MarvelmindHedge * hedge);

void printPositionFromMarvelmindHedge (struct MarvelmindHedge * hedge,
                                       bool onlyNew);
bool getPositionFromMarvelmindHedge (struct MarvelmindHedge * hedge,
                                     struct PositionValue * position);

bool getStationaryBeaconsPositionsFromMarvelmindHedge (struct MarvelmindHedge * hedge,
                                              struct StationaryBeaconsPositions * positions);
void printStationaryBeaconsPositionsFromMarvelmindHedge (struct MarvelmindHedge * hedge,
                                                         bool onlyNew);

bool getRawDistancesFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                        struct RawDistances* rawDistances);
void printRawDistancesFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                          bool onlyNew);

bool getRawIMUFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                        struct RawIMUValue* rawIMU);
void printRawIMUFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                          bool onlyNew);

bool getFusionIMUFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                     struct FusionIMUValue *fusionIMU);
void printFusionIMUFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                      bool onlyNew);

bool getTelemetryFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                     struct TelemetryData *telemetry);
void printTelemetryFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                      bool onlyNew);

bool getQualityFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                     struct QualityData *quality);
void printQualityFromMarvelmindHedge(struct MarvelmindHedge * hedge,
                                      bool onlyNew);

void stopMarvelmindHedge (struct MarvelmindHedge * hedge);

struct PositionValue* getMobilePosition (struct MarvelmindHedge * hedge,
                                                 bool onlyNew,
                                                 int* resultSize);

#if defined(WIN32) || defined(_WIN64)
#define DEFAULT_TTY_FILENAME "\\\\.\\COM3"
#else
#define DEFAULT_TTY_FILENAME "/dev/ttyACM0"
#endif // WIN32