#include <vector>
#include <cstdint>
#include <windows.h>
#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)

HANDLE initSerialPort (const char* portName, DWORD baudRate);
bool readSerialData (HANDLE hSerial, uint8_t* buffer, DWORD bufferSize, DWORD& bytesRead);
bool parseQuaternion(const std::string& data, Quaternion& quat);
void checkPacketSize();
void printBufferHex(const std::vector<uint8_t>& buffer, const std::string& label);

int linux_initSerialPort();
bool linux_readSerialData(int serialPort, char* buffer);


std::vector<uint8_t> extractPacket(std::vector<uint8_t> &buffer);
bool parseBinaryPacket(std::vector<uint8_t> &packetData, Quaternion &quat);