46 lines
1.1 KiB
C++
46 lines
1.1 KiB
C++
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#include <vector>
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#include "raymath.h"
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#include <cstdint>
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#ifdef _WIN32
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#include <windows.h>
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#endif
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#include <iostream>
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// struct Quaternion{
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// float w, x, y, z;
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// };
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#pragma pack(push, 1)
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typedef struct {
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uint8_t StartByte;
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uint8_t SensorAddress;
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float qw;
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float qx;
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float qy;
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float qz;
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uint8_t EndByte;
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} QuaternionData;
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#pragma pack(pop)
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// serial communication functions
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#ifdef _WIN32
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HANDLE initSerialPort (const char* portName, DWORD baudRate);
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bool readSerialData (HANDLE hSerial, uint8_t* buffer, DWORD bufferSize, DWORD& bytesRead);
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#elif defined(__APPLE__)
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#elif defined(__linux__)
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int linux_initSerialPort();
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bool linux_close_serial_port(int serial_port);
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bool linux_readSerialData(int serialPort, std::vector<uint8_t> &buffer, size_t& bytes_read);
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void print_vector_content(std::vector<uint8_t> &vec, std::string vector_name);
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#endif
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// extract packet data from serial datastream
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std::vector<uint8_t> extractPacket(std::vector<uint8_t> &buffer);
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bool parseBinaryPacket(std::vector<uint8_t> &packetData, Quaternion &quat);
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bool parseQuaternion(const std::string& data, Quaternion& quat);
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