// Namestitev

// SLIP -> OSC
Quarks.install("https://git.kompot.si/g1smo/SLIPDecoder.git");

// Quaternioni
Quarks.install("MathLib");

// Zlistaj serijske naprave
SerialPort.listDevices;

// Zacni
(
var receiver;

OSCFunc.trace(false);
~wwS = SLIPDecoder.new("/dev/ttyUSB0", 115200, "/ww/0");
~wwS.stop;
~wwS.start;

~eX = 0;
~eY = 0;
~eZ = 0;

~refQ = Quaternion.new();
~zadnjiQ = Quaternion.new(1, 0, 0, 0);

~gumbi = Array.fill(4, false);

// Pucamo star listener
thisProcess.removeOSCRecvFunc(~sprejemnik);

~sprejemnik = {|msg|
  //msg.postln;
  msg[0].switch(
    '/ww/0/quaternion', {
      var novQ, diffQ, euler;
      //msg[(1..4)].postln;
      "novQ!".postln;
      novQ = Quaternion.new(*msg[(1..4)]);
      //novQ.postln;

      //(novQ * ~zadnjiQ.conjugate).postln;
      diffQ = novQ / ~zadnjiQ.conjugate;
      diffQ.postln;
      ~zadnjiQ = novQ;
    }
  );
};
thisProcess.addOSCRecvFunc(~sprejemnik);
)

(
  ~a = Quaternion(1, 0.5, 0.5, 0.5);
  ~b = Quaternion(1, 0.4, 0.6, 0.5);
(~a / Quaternion.new()).postln;
)

// Ustavi
~wwS.stop;

// Zacni
~wwS.start;

thisProcess.listOscRecvFunc();