// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Gx3_25_imu_impl.h
 * \brief Classe intégrant la centrale 3dmgx3-25
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2011/08/19
 * \version 4.0
 */

#ifndef GX3_25_IMU_IMPL_H
#define GX3_25_IMU_IMPL_H

#include "Gx3_25_imu.h"
#include <unistd.h> //ssize_t

namespace flair {
    namespace core {
        class FrameworkManager;
        class SerialPort;
        class AhrsData;
    }
    namespace gui {
        class SpinBox;
        class CheckBox;
        class PushButton;
        class Label;
    }
}

/*! \class Gx3_25_imu_impl
*
* \brief Classe intégrant la centrale 3dmgx3-25
*/

class Gx3_25_imu_impl {

    public:
        Gx3_25_imu_impl(flair::sensor::Gx3_25_imu* self,std::string name,flair::core::SerialPort *serialport,flair::sensor::Gx3_25_imu::Command_t command,flair::gui::GroupBox* setupgroupbox);
        ~Gx3_25_imu_impl();
        void Run(void);

    private:
        void DeviceReset(void);
        void GetData(uint8_t* buf,ssize_t buf_size,flair::core::Time *time);
        float Dequeue(uint8_t** buf);
        void GyrosBias(void);
        void SamplingSettings(void);
        void SetBaudrate(int value);
        bool CalcChecksum(uint8_t *buf,int size);
        int FirmwareNumber(void);
        void PrintModelInfo(void);
        void RealignUpNorth(bool realign_up,bool realign_north);

        void SetContinuousMode(uint8_t continuous_command);

        flair::gui::GroupBox *setupgroupbox;
        flair::gui::SpinBox *data_rate,*gyro_acc_size,*mag_size,*up_comp,*north_comp;
        flair::gui::CheckBox *coning,*disable_magn,*disable_north_comp,*disable_grav_comp;
        flair::gui::PushButton *button_bias;
        flair::gui::Label *data_rate_label;

        flair::core::SerialPort *serialport;
        uint8_t command;
        flair::sensor::Gx3_25_imu *self;
        flair::core::AhrsData *ahrsData;
};

#endif // GX3_25_IMU_IMPL_H