/*
 * © Copyright 2014 – Urheberrechtshinweis
 * Alle Rechte vorbehalten / All Rights Reserved
 *
 * Programmcode ist urheberrechtlich geschuetzt.
 * Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
 * Keine Verwendung ohne explizite Genehmigung.
 * (vgl. § 106 ff UrhG / § 97 UrhG)
 */

#ifndef COMPASSDATA_H
#define COMPASSDATA_H

#include <cmath>
#include <sstream>
#include "../../math/Floatingpoint.h"

/** data received from a compass sensor */
struct CompassData {

	/** azimuth angle. NAN if not available */
	FPDefault azimuth = NAN;

	/** describes the sensor's quality */
	FPDefault quality01 = 0;


	/** empty ctor */
	CompassData() : azimuth(NAN) {;}

	/** data ctor */
	CompassData(const float azimuth) : azimuth(azimuth), quality01(0) {;}

	/** data ctor */
	CompassData(const float azimuth, const float quality01) : azimuth(azimuth), quality01(quality01) {;}

	/** get an instance describing invalid data */
	static CompassData INVALID() {
		return CompassData(NAN);
	}

	/** convert to string */
	std::string asString() const {
		std::stringstream ss;
		ss << "(" << azimuth << ")";
		return ss.str();
	}

	/** is the compass data valid? [compass present] */
	bool isValid() const {
		return azimuth == azimuth;
	}

	bool operator == (const CompassData& o) const {
		return	EQ_OR_NAN(azimuth, o.azimuth) &&
				EQ_OR_NAN(quality01, o.quality01);
	}

private:

	static inline bool EQ_OR_NAN(const FPDefault a, const FPDefault b) {return (a==b) || ( (a!=a) && (b!=b) );}

};

#endif // COMPASSDATA_H