// Dependencies:
//  - SLIPDecoder (https://git.kompot.si/g1smo/SLIPDecoder)
//  - MathLib (https://depts.washington.edu/dxscdoc/Help/Browse.html#Libraries%3EMathLib)

(

// Initialize the the receiver via SLIP decoder
~receiverPath = "/dev/ttyACM0";
~baudRate = 115200;

~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
OSCFunc.trace(false); // debug osc
~decoder.trace(true); // debug slip decoder

/*******
 * GUI *
 ******/
~senzorji = [];
~numSensors = 3;
~numSensors.do({ |n|
  ~senzorji.add(AHRSensor.new(n + 1));
});

~w = Window.new("Utopia || C²", Rect(300, 300, 640, ~numSensors * 20),true);

~elementi = ~senzorji.collect({|s| s.getGui;});

~ttyInput = TextField().string_("/dev/ttyACM0");

~w.layout_(
  VLayout(
	HLayout(
	  StaticText().string_("Serial path: "),
	  ~ttyInput,
	  Button().string_("Start").action_({ | butt |
		if ((~decoder.running.not), {
		  // If not running, start decoder
          ~decoder.deviceName = "";
		  ~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
		  ~decoder.start;
		  butt.string_("Stop")
		}, {
		  // Else stop the decoder
		  ~decoder.stop;
		  butt.string_("Start")
		});
	  })
	),
	// Elementi senzorjev
	VLayout(*~elementi)
  )
);
~w.front;

q = OSCFunc({ |msg, time, addr, recvPort|
  var q;
  q = Quaternion.new(msg[4], msg[1], msg[2], msg[3]);
  q.postln;
  //~senzorji[0].updateEuler(q);
  //~senzorji[0].euler.postln;
  //~elementi[0].refreshGui;
}, "/ww/1/quaternion");

// Start the decoder!
//~decoder.start;
)


~decoder.trace;
~decoder.stop;
~decoder.start;


~decoder.rate;