#include <vector>
#include "raymath.h"
#include <cstdint>
#ifdef _WIN32
	#include <windows.h>
#endif
#include <iostream>

// struct Quaternion{
//     float w, x, y, z;
// };

#pragma pack(push, 1)
typedef struct {
    uint8_t StartByte;
	uint8_t SensorAddress;
	float qw;
	float qx;
	float qy;
	float qz;
	uint8_t EndByte;
} QuaternionData;
#pragma pack(pop)

// serial communication functions
#ifdef _WIN32
HANDLE initSerialPort (const char* portName, DWORD baudRate);
bool readSerialData (HANDLE hSerial, uint8_t* buffer, DWORD bufferSize, DWORD& bytesRead);
#elif defined(__APPLE__)
#elif defined(__linux__)
int linux_initSerialPort();
bool linux_close_serial_port(int serial_port);
bool linux_readSerialData(int serialPort, std::vector<uint8_t> &buffer, size_t& bytes_read);
void print_vector_content(std::vector<uint8_t> &vec, std::string vector_name);
#endif

// extract packet data from serial datastream
std::vector<uint8_t> extractPacket(std::vector<uint8_t> &buffer);
bool parseBinaryPacket(std::vector<uint8_t> &packetData, Quaternion &quat);


bool parseQuaternion(const std::string& data, Quaternion& quat);