/* VectorNav HSI Calibration Library v1.0.0.2
 *
 * Copyright (c) 2018 VectorNav Technologies, LLC
 *
 * This source code is proprietary to and copyrighted by VectorNav Technologies, LLC and is
 * available solely under license from VectorNav. All rights reserved. If you do not have a
 * license to use this source code from VectorNav, any use hereof is strictly prohibited by
 * U.S. law and other applicable law. This source code is restricted for use solely with the
 * products of VectorNav and as otherwise set forth in any agreement with VectorNav. Any
 * disclosure of this source code to the public or to any third party is also prohibited.
 */
#ifndef _VNEZASYNCDATA_H_
#define _VNEZASYNCDATA_H_

#include "vnint.h"
#include "vnenum.h"
#include "vncompositedata.h"
#include "vnsensor.h"

#ifdef __cplusplus
extern "C" {
#endif

/** \brief Structure supporting easy and reliable access to asynchronous data
*   from a VectorNav sensor at the cost of a slight performance hit. */
struct VnEzAsyncData
{
  /** \brief The associated connected sensor. */
  struct VnSensor* sensor;

  /** \brief Critical section for accessing the current data. */
  struct VnCriticalSection* curDataCS;

  /** \brief The current data received from asynchronous data packets. */
  struct VnCompositeData* curData;

};

#ifndef __cplusplus
typedef struct VnEzAsyncData VnEzAsyncData_t;
#endif

/** \brief Initializes and connects to a VectorNav sensor with the specified
*   connection parameters.
*
* \param[in] ezAsyncData The associated VnEzAsyncData structure.
* \param]in] portName The name of the serial port to connect to.
* \param[in] baudrate The baudrate to connect at.
* \return Any errors encountered. */
enum VnError VnEzAsyncData_initializeAndConnect(struct VnEzAsyncData* ezAsyncData, const char* portName, uint32_t baudrate);

/** \brief Disconnects from a VectorNav sensor.
*
* \param[in] ezAsyncData The associated VnEzAsyncData structure.
* \return Any errors encountered. */
enum VnError VnEzAsyncData_disconnect(struct VnEzAsyncData* ezAsyncData);

/** \brief Returns the most recent asynchronous data the VnEzAsyncData structure
*   has processed.
*
* \param[in] ezAsyncData The associated VnEzAsyncData structure.
* \return The latest data processed. */
struct VnCompositeData VnEzAsyncData_currentData(struct VnEzAsyncData* ezAsyncData);

/** \brief Returns the underlying VnSensor referenced.
*
* \param[in] ezAsyncData The associated VnEzAsyncData structure.
* \return The underlying VnSensor reference. */
struct VnSensor* VnEzAsyncData_sensor(struct VnEzAsyncData* ezAsyncData);

#ifdef __cplusplus
}
#endif

#endif