VectornavInterface.h

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#ifndef VECTORNAVINTERFACE
#define VECTORNAVINTERFACE
#include "FlexCAN_T4.h"
#include "hytech.h"
#include "SharedDataTypes.h"
 
template <typename message_queue>
class VNInterface
{
private:
    /* Watchdog last kicked time */
    message_queue *msg_queue_;
    uint32_t can_id_;
    VectornavData_s vn_data;
    
public:
    VNInterface(message_queue *msg_output_queue) {
        msg_queue_ = msg_output_queue;
    };
    /* Kick watchdog */
    
 
    // retrieve methods
    void retrieve_velocity_CAN(CAN_message_t &recvd_msg);
    
    void retrieve_linear_accel_CAN(CAN_message_t &recvd_msg);
    void retrieve_uncompLinear_accel_CAN(CAN_message_t &recvd_msg);
    void retrieve_ypr_CAN(CAN_message_t &recvd_msg);
    void retrieve_lat_lon_CAN(CAN_message_t &recvd_msg);
    void retrieve_gps_time_CAN(CAN_message_t &recvd_msg);
    void retrieve_vn_status_CAN(CAN_message_t &recvd_msg);
    void retrieve_vn_ecef_pos_xy_CAN(CAN_message_t &recvd_msg);
    void retrieve_vn_ecef_pos_z_CAN(CAN_message_t &recvd_msg);
    void receive_ang_rates_CAN(CAN_message_t &recvd_msg);
    // getters
    VectornavData_s get_vn_struct();
    
    uint32_t get_id() { return can_id_;};
};
#include "VectornavInterface.tpp"
#endif /* __WATCHDOG_INTERFACE_H__ */