compositedata.h

#ifndef _VNCOMPOSITEDATA_H_
#define _VNCOMPOSITEDATA_H_

#include "vn/bool.h"
#include "vn/xplat/criticalsection.h"
#include "vn/enum.h"
#include "vn/int.h"
#include "vn/math/vector.h"
#include "vn/math/matrix.h"
#include "vn/protocol/upack.h"
#include "vn/math/vector.h"

#ifdef __cplusplus
extern "C" {
#endif

#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable : 4820)
#endif

typedef struct
{
    vec3f yawPitchRoll;                 
    vec4f quaternion;                   
    mat3f directionCosineMatrix;        
    vec3d positionGpsLla;               
    vec3d positionGpsEcef;              
    vec3d positionEstimatedLla;         
    vec3d positionEstimatedEcef;        
    VelocityType velocityType;     
    vec3f velocityGpsNed;               
    vec3f velocityGpsEcef;              
    vec3f velocityEstimatedBody;        
    vec3f velocityEstimatedNed;         
    vec3f velocityEstimatedEcef;        
    vec3f magnetic;                     
    vec3f magneticUncompensated;        
    vec3f magneticNed;                  
    vec3f magneticEcef;                 
    #ifdef EXTRA
    vec3f magneticRaw;                  
    #endif
    vec3f acceleration;                 
    vec3f accelerationUncompensated;    
    vec3f accelerationNed;              
    vec3f accelerationEcef;             
    vec3f accelerationLinearBody;       
    vec3f accelerationLinearNed;        
    vec3f accelerationLinearEcef;       
    #ifdef EXTRA
    vec3f accelerationRaw;              
    #endif
    vec3f angularRate;                  
    vec3f angularRateUncompensated;     
    #ifdef EXTRA
    vec3f angularRateRaw;               
    #endif
    float temperature;                  
    #ifdef EXTRA
    float temperatureRaw;               
    #endif
    float pressure;                     
    uint64_t timeStartup;               
    float deltaTime;                    
    vec3f deltaTheta;                   
    vec3f deltaVelocity;                
    double tow;                         
    uint16_t week;                      
    uint8_t gpsFix;                     
    uint8_t numSats;                    
    uint64_t timeGps;                   
    uint64_t timeGpsPps;                
    uint64_t gpsTow;                    
    vec3f attitudeUncertainty;          
    vec3f positionUncertaintyGpsNed;    
    vec3f positionUncertaintyGpsEcef;   
    float positionUncertaintyEstimated; 
    float velocityUncertaintyGps;       
    float velocityUncertaintyEstimated; 
    uint32_t timeUncertainty;           
    uint16_t vpeStatus;                 
    uint16_t insStatus;                 
    uint64_t timeSyncIn;                
    uint32_t syncInCnt;                 
    uint16_t sensSat;                   
    #ifdef EXTRA
    vec3f yprRates;                     
    #endif

} VnCompositeData;
#ifdef _WIN32
#pragma warning(pop)
#endif

bool VnCompositeData_hasCourseOverGround(VnCompositeData* compositeData);

bool VnCompositeData_courseOverGround(VnCompositeData* compositeData, float* courseOverGroundOut);

bool VnCompositeData_hasSpeedOverGround(VnCompositeData* compositeData);

bool VnCompositeData_speedOverGround(VnCompositeData* compositeData, float* speedOverGroundOut);

void VnCompositeData_initialize(VnCompositeData* compositeData);

void VnCompositeData_processBinaryPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);

void VnCompositeData_processAsciiAsyncPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);

void VnCompositeData_processBinaryPacketCommonGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    CommonGroup groupFlags);

void VnCompositeData_processBinaryPacketTimeGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    TimeGroup groupFlags);

void VnCompositeData_processBinaryPacketImuGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    ImuGroup groupFlags);

void VnCompositeData_processBinaryPacketGpsGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    GpsGroup groupFlags);

void VnCompositeData_processBinaryPacketAttitudeGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    AttitudeGroup groupFlags);

void VnCompositeData_processBinaryPacketInsGroup(
    VnCompositeData* compositeData,
    VnUartPacket* packet,
    InsGroup groupFlags);

#ifdef __cplusplus
}
#endif

#endif