#ifndef SBGLOGPARSE_H
#define SBGLOGPARSE_H

#include "sbgbuffer.h"



namespace sbgtc
{
    //----------------------------------------------------------------------//
    //- Definition of all class id for sbgECom                             -//
    //----------------------------------------------------------------------//

    /*!
     * Enum that defines all the message classes available.
     */
    typedef enum _SbgEComClass
    {
        SBG_ECOM_CLASS_LOG_ECOM_0			= 0x00,			/*!< Class that contains sbgECom protocol input/output log messages. */

        SBG_ECOM_CLASS_LOG_ECOM_1			= 0x01,			/*!< Class that contains special sbgECom output messages that handle high frequency output. */

        SBG_ECOM_CLASS_LOG_NMEA_0			= 0x02,			/*!< Class that contains NMEA (and NMEA like) output logs. <br>
                                                                 Note: This class is only used for identification purpose and does not contain any sbgECom message. */
        SBG_ECOM_CLASS_LOG_NMEA_1			= 0x03,			/*!< Class that contains proprietary NMEA (and NMEA like) output logs. <br>
                                                                 Note: This class is only used for identification purpose and does not contain any sbgECom message. */
        SBG_ECOM_CLASS_LOG_THIRD_PARTY_0	= 0x04,			/*!< Class that contains third party output logs.
                                                                Note: This class is only used for identification purpose and does not contain any sbgECom message. */

        SBG_ECOM_CLASS_LOG_CMD_0			= 0x10,			/*!< Class that contains sbgECom protocol commands. */

        SBG_ECOM_CLASS_LOG_ECOM_PRIVATE		= 0xFE,			/*!< Private output logs - internal use only */
        SBG_ECOM_CLASS_CMD_PRIVATE			= 0xFF			/*!< Private commands - internal use only */
    } SbgEComClass;

    //----------------------------------------------------------------------//
    //- Definition of all messages id for sbgECom                          -//
    //----------------------------------------------------------------------//

    /*!
     * Enum that defines all the available ECom output logs from the sbgECom library.
     */
    typedef enum _SbgEComLog
    {
        SBG_ECOM_LOG_STATUS 					= 1,		/*!< Status general, clock, com aiding, solution, heave */

        SBG_ECOM_LOG_UTC_TIME 					= 2,		/*!< Provides UTC time reference */

        SBG_ECOM_LOG_IMU_DATA 					= 3,		/*!< Includes IMU status, acc., gyro, temp delta speeds and delta angles values */

        SBG_ECOM_LOG_MAG 						= 4,		/*!< Magnetic data with associated accelerometer on each axis */
        SBG_ECOM_LOG_MAG_CALIB 					= 5,		/*!< Magnetometer calibration data (raw buffer) */

        SBG_ECOM_LOG_EKF_EULER 					= 6,		/*!< Includes roll, pitch, yaw and their accuracies on each axis */
        SBG_ECOM_LOG_EKF_QUAT 					= 7,		/*!< Includes the 4 quaternions values */
        SBG_ECOM_LOG_EKF_NAV 					= 8,		/*!< Position and velocities in NED coordinates with the accuracies on each axis */

        SBG_ECOM_LOG_SHIP_MOTION				= 9,		/*!< Heave, surge and sway and accelerations on each axis. */

        SBG_ECOM_LOG_GPS1_VEL 					= 13,		/*!< GPS velocities from primary or secondary GPS receiver */
        SBG_ECOM_LOG_GPS1_POS 					= 14,		/*!< GPS positions from primary or secondary GPS receiver */
        SBG_ECOM_LOG_GPS1_HDT 					= 15,		/*!< GPS true heading from dual antenna system */
        SBG_ECOM_LOG_GPS1_RAW					= 31,		/*!< GPS 1 raw data for post processing. */

        SBG_ECOM_LOG_GPS2_VEL					= 16,		/*!< GPS 2 velocity log data. */
        SBG_ECOM_LOG_GPS2_POS					= 17,		/*!< GPS 2 position log data. */
        SBG_ECOM_LOG_GPS2_HDT					= 18,		/*!< GPS 2 true heading log data. */
        SBG_ECOM_LOG_GPS2_RAW					= 38,		/*!< GPS 2 raw data for post processing. */

        SBG_ECOM_LOG_ODO_VEL 					= 19,		/*!< Provides odometer velocity */

        SBG_ECOM_LOG_EVENT_A 					= 24,		/*!< Event markers sent when events are detected on sync in A pin */
        SBG_ECOM_LOG_EVENT_B 					= 25,		/*!< Event markers sent when events are detected on sync in B pin */
        SBG_ECOM_LOG_EVENT_C					= 26,		/*!< Event markers sent when events are detected on sync in C pin */
        SBG_ECOM_LOG_EVENT_D 					= 27,		/*!< Event markers sent when events are detected on sync in D pin */
        SBG_ECOM_LOG_EVENT_E					= 28,		/*!< Event markers sent when events are detected on sync in E pin */

        SBG_ECOM_LOG_DVL_BOTTOM_TRACK			= 29,		/*!< Doppler Velocity Log for bottom tracking data. */
        SBG_ECOM_LOG_DVL_WATER_TRACK			= 30,		/*!< Doppler Velocity log for water layer data. */

        SBG_ECOM_LOG_SHIP_MOTION_HP				= 32,		/*!< Return delayed ship motion such as surge, sway, heave. */

        SBG_ECOM_LOG_AIR_DATA					= 36,		/*!< Air Data aiding such as barometric altimeter and true air speed. */

        SBG_ECOM_LOG_USBL						= 37,		/*!< Raw USBL position data for subsea navigation. */

        SBG_ECOM_LOG_IMU_RAW_DATA				= 40,		/*!< DEPRECATED: Private only log. */

        SBG_ECOM_LOG_IMU_SHORT					= 44,		/*!< Short IMU message recommended for post processing usages. */

        SBG_ECOM_LOG_EVENT_OUT_A				= 45,		/*!< Event marker used to time stamp each generated Sync Out A signal. */
        SBG_ECOM_LOG_EVENT_OUT_B				= 46,		/*!< Event marker used to time stamp each generated Sync Out B signal. */

        SBG_ECOM_LOG_DEPTH						= 47,		/*!< Depth sensor measurement log used for subsea navigation. */
        SBG_ECOM_LOG_DIAG						= 48,		/*!< Diagnostic log. */

        SBG_ECOM_LOG_ECOM_NUM_MESSAGES						/*!< Helper definition to know the number of ECom messages */
    } SbgEComLog;


    /*!
     *	This type defines any message identifier.
     *	Because message identifiers enum will be different with each class id, we use a generic uint8_t rather than an enum.
     */
    typedef uint8_t	SbgEComMsgId;

    //--------------------------------------------------------------------------------------------------------------------------------------------------------------

    /*!
     * Solution filter mode enum.
     */
    typedef enum _SbgEComSolutionMode
    {
        SBG_ECOM_SOL_MODE_UNINITIALIZED			= 0,					/*!< The Kalman filter is not initialized and the returned data are all invalid. */
        SBG_ECOM_SOL_MODE_VERTICAL_GYRO			= 1,					/*!< The Kalman filter only rely on a vertical reference to compute roll and pitch angles. Heading and navigation data drift freely. */
        SBG_ECOM_SOL_MODE_AHRS					= 2,					/*!< A heading reference is available, the Kalman filter provides full orientation but navigation data drift freely. */
        SBG_ECOM_SOL_MODE_NAV_VELOCITY			= 3,					/*!< The Kalman filter computes orientation and velocity. Position is freely integrated from velocity estimation. */
        SBG_ECOM_SOL_MODE_NAV_POSITION			= 4						/*!< Nominal mode, the Kalman filter computes all parameters (attitude, velocity, position). Absolute position is provided. */
    } SbgEComSolutionMode;


    /*!
     * EKF computed orientation using euler angles.
     */
    typedef struct _SbgLogEkfEulerData
    {
        uint32_t	timeStamp;				/*!< Time in us since the sensor power up. */
        float		euler[3];				/*!< Roll, Pitch and Yaw angles in rad. */
        float		eulerStdDev[3];			/*!< Roll, Pitch and Yaw angles 1 sigma standard deviation in rad. */
        uint32_t	status;					/*!< EKF solution status bitmask and enum. */
    } SbgLogEkfEulerData;

    /*!
     * EFK computed orientation using quaternion.
     */
    typedef struct _SbgLogEkfQuatData
    {
        uint32_t	timeStamp;				/*!< Time in us since the sensor power up. */
        float		quaternion[4];			/*!< Orientation quaternion stored in W, X, Y, Z form. */
        float		eulerStdDev[3];			/*!< Roll, Pitch and Yaw angles 1 sigma standard deviation in rad. */
        uint32_t	status;					/*!< EKF solution status bitmask and enum. */
    } SbgLogEkfQuatData;

    /*!
     * EFK computed navigation data.
     */
    typedef struct _SbgLogEkfNavData
    {
        uint32_t	timeStamp;				/*!< Time in us since the sensor power up. */
        float		velocity[3];			/*!< North, East, Down velocity in m.s^-1. */
        float		velocityStdDev[3];		/*!< North, East, Down velocity 1 sigma standard deviation in m.s^-1. */
        double		position[3];			/*!< Latitude, Longitude in degrees positive North and East.
                                             Altitude above Mean Sea Level in meters. */
        float		undulation;				/*!< Altitude difference between the geoid and the Ellipsoid in meters (Height above Ellipsoid = altitude + undulation). */
        float		positionStdDev[3];		/*!< Latitude, longitude and altitude 1 sigma standard deviation in meters. */
        uint32_t	status;					/*!< EKF solution status bitmask and enum. */
    } SbgLogEkfNavData;



    /*!
     * Structure that stores data for the SBG_ECOM_LOG_UTC_TIME message.
     */
    typedef struct _SbgLogUtcData
    {
        uint32_t	timeStamp;					/*!< Time in us since the sensor power up. */
        uint16_t	status;						/*!< UTC time and clock status information */
        uint16_t	year;						/*!< Year for example: 2013. */
        int8_t		month;						/*!< Month in year [1 .. 12]. */
        int8_t		day;						/*!< Day in month [1 .. 31]. */
        int8_t		hour;						/*!< Hour in day [0 .. 23]. */
        int8_t		minute;						/*!< Minute in hour [0 .. 59]. */
        int8_t		second;						/*!< Second in minute [0 .. 60]. (60 is used only when a leap second is added) */
        int32_t		nanoSecond;					/*!< Nanosecond of current second in ns. */
        uint32_t	gpsTimeOfWeek;				/*!< GPS time of week in ms. */
    } SbgLogUtcData;

    /*!
     * Structure that stores data for the SBG_ECOM_LOG_GPS#_POS message.
     */
    typedef struct _SbgLogGpsPos
    {
        uint32_t		timeStamp;				/*!< Time in us since the sensor power up. */
        uint32_t		status;					/*!< GPS position status, type and bitmask. */
        uint32_t		timeOfWeek;				/*!< GPS time of week in ms. */
        double			latitude;				/*!< Latitude in degrees, positive north. */
        double			longitude;				/*!< Longitude in degrees, positive east. */
        double			altitude;				/*!< Altitude above Mean Sea Level in meters. */
        float			undulation;				/*!< Altitude difference between the geoid and the Ellipsoid in meters (Height above Ellipsoid = altitude + undulation). */
        float			latitudeAccuracy;		/*!< 1 sigma latitude accuracy in meters. */
        float			longitudeAccuracy;		/*!< 1 sigma longitude accuracy in meters. */
        float			altitudeAccuracy;		/*!< 1 sigma altitude accuracy in meters. */
        uint8_t			numSvUsed;				/*!< Number of space vehicles used to compute the solution (since version 1.4). */
        uint16_t		baseStationId;			/*!< Base station id for differential corrections (0-4095). Set to 0xFFFF if differential corrections are not used (since version 1.4). */
        uint16_t		differentialAge;		/*!< Differential correction age in 0.01 seconds. Set to 0XFFFF if differential corrections are not used (since version 1.4). */
    } SbgLogGpsPos;

    typedef union _SbgBinaryLogData
    {
    //	SbgLogStatusData				statusData;			/*!< Stores data for the SBG_ECOM_LOG_STATUS message. */
    //	SbgLogImuData					imuData;			/*!< Stores data for the SBG_ECOM_LOG_IMU_DATA message. */
    //	SbgLogImuShort					imuShort;			/*!< Stores data for the SBG_ECOM_LOG_IMU_SHORT message. */
        SbgLogEkfEulerData				ekfEulerData;		/*!< Stores data for the SBG_ECOM_LOG_EKF_EULER message. */
        SbgLogEkfQuatData				ekfQuatData;		/*!< Stores data for the SBG_ECOM_LOG_EKF_QUAT message. */
        SbgLogEkfNavData				ekfNavData;			/*!< Stores data for the SBG_ECOM_LOG_EKF_NAV message. */
    //	SbgLogShipMotionData			shipMotionData;		/*!< Stores data for the SBG_ECOM_LOG_SHIP_MOTION or SBG_ECOM_LOG_SHIP_MOTION_HP message. */
    //	SbgLogOdometerData				odometerData;		/*!< Stores data for the SBG_ECOM_LOG_ODO_VEL message. */
        SbgLogUtcData					utcData;			/*!< Stores data for the SBG_ECOM_LOG_UTC_TIME message. */
        SbgLogGpsPos					gpsPosData;			/*!< Stores data for the SBG_ECOM_LOG_GPS_POS message. */
    //	SbgLogGpsVel					gpsVelData;			/*!< Stores data for the SBG_ECOM_LOG_GPS#_VEL message. */
    //	SbgLogGpsHdt					gpsHdtData;			/*!< Stores data for the SBG_ECOM_LOG_GPS#_HDT message. */
    //	SbgLogGpsRaw					gpsRawData;			/*!< Stores data for the SBG_ECOM_LOG_GPS#_RAW message. */
    //	SbgLogMag						magData;			/*!< Stores data for the SBG_ECOM_LOG_MAG message. */
    //	SbgLogMagCalib					magCalibData;		/*!< Stores data for the SBG_ECOM_LOG_MAG_CALIB message. */
    //	SbgLogDvlData					dvlData;			/*!< Stores data for the SBG_ECOM_LOG_DVL_BOTTOM_TRACK message. */
    //	SbgLogAirData					airData;			/*!< Stores data for the SBG_ECOM_LOG_AIR_DATA message. */
    //	SbgLogUsblData					usblData;			/*!< Stores data for the SBG_ECOM_LOG_USBL message. */
    //	SbgLogDepth						depthData;			/*!< Stores data for the SBG_ECOM_LOG_DEPTH message */
    //	SbgLogEvent						eventMarker;		/*!< Stores data for the SBG_ECOM_LOG_EVENT_# message. */
    //	SbgLogDiagData					diagData;			/*!< Stores data for the SBG_ECOM_LOG_DIAG message. */

    //	/* Fast logs */
    //	SbgLogFastImuData				fastImuData;		/*!< Stores Fast Imu Data for 1KHz output */
    } SbgBinaryLogData;

    SbgErrorCode sbgEComBinaryLogParseEkfEulerData(SbgStreamBuffer *pInputStream, SbgLogEkfEulerData *pOutputData);

    SbgErrorCode sbgEComBinaryLogParseUtcData(SbgStreamBuffer *pInputStream, SbgLogUtcData *pOutputData);

    SbgErrorCode sbgEComBinaryLogParseGpsPosData(SbgStreamBuffer *pInputStream, SbgLogGpsPos *pOutputData);

}

#endif // SBGLOGPARSE_H