File content as of revision 16:a8d3a0dbe4bf:

#ifndef __VIPSSERIALPROTOCOL_H__
#define __VIPSSERIALPROTOCOL_H__

#include "mbed.h"
#include "position.h"
#include "BufferedSerial.h"

extern const char* VIPSStatusMessages[];

class VIPSSerial { 

public:    

    VIPSSerial(const PinName Tx, const PinName Rx);
    void run(void);

    // send all position outputs rather than just when requested.
    void sendAllUpdated(bool enable);

    // send a position output for the requested time. Times are based on the global TimeSinceLastFrame timer.
    position* sendPositionForTime(uint32_t timeValue);
    position* getWaitingPostion() {position *ptr = outputPtr; outputPtr=NULL; return ptr;}

    static void getCRC(void *data, int len, void *checksum);

//  void setOutMask(uint32_t outputMask) {_outputMask = outputMask;};

    bool EnableSmoothing(bool enabled) { hyperSmoothEnabled = enabled; return hyperSmoothEnabled;};
    bool SmoothingEnabled(void) { return hyperSmoothEnabled;};

    int GetSmoothLevel(void) { return SmoothBy; };
    bool SetSmoothLevel (const int newSmooth) { if (newSmooth == SmoothBy) return false; SmoothBy = newSmooth; SmoothRunning = false; return true; };
    void EnableBypass(bool enable) { BypassMode = enable;};
    void bypassTx(char byte);

private:

    struct posAndTime_s {
        uint32_t time;
        position pos;
    };

    void smoothOutputPacket(position *posPtr);
    void onSerialRx(void);
    void processRxMessage();
    bool checkCRC(unsigned char* data);
    void sendResponse(unsigned char function, unsigned char* data, int dataLen);
    void sendAck(unsigned char function);
    void sendNack(unsigned char function);
    void sendVBOXTime();
    void parsePostionInput_legacy();
    void parsePostionInput_mocap();
    bool checkNewPacketRC(unsigned char* data);
    RawSerial _port;
    unsigned char messageInBuffer[128];
    unsigned char messageOutBuffer[16];    
    #define posHistoryLen 3
    struct posAndTime_s lastPositions[posHistoryLen];
    int nextPosition;
    struct posAndTime_s lastPos; // the most recent position received
    struct posAndTime_s prevPos; // the most last but one position received

    position outputPosition;
    position *outputPtr;

    int messagePrt;
    int messageLength;
    int statusMessage;
    bool enableAllUpdates;
    bool newFormatMsg;
    bool hyperSmoothEnabled;
    uint32_t pointCount;
    uint32_t _outputMask;

    int SmoothBy;
    // total as a float we would start to see rounding errors at valuses of ~20m 
    double XSmoothTotal;
    double YSmoothTotal;
    double ZSmoothTotal;
    bool SmoothRunning;
    bool BypassMode;


};

#endif