#include "BNO08xRptIGyroRV.hpp"
#include "BNO08x.hpp"

/**
 * @brief Updates gyro integrated rotation vector data from decoded sensor event.
 *
 * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
 *
 * @return void, nothing to return
 */
void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
{
    imu->lock_user_data();
    data = sensor_val->un.gyroIntegratedRV;
    data_vel = sensor_val->un.gyroIntegratedRV;
    imu->unlock_user_data();
}

/**
 * @brief Grabs most recent gyro integrated rotation vector data.
 *
 * @param quat Struct to store requested unit quaternion data.
 * @param vel Struct to store requested velocity data (units in rad/s).
 *
 * @return void, nothing to return
 */
void BNO08xRptIGyroRV::get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel)
{
    imu->lock_user_data();
    quat = data;
    vel = data_vel;
    imu->unlock_user_data();
}

/**
 * @brief Grabs most recent gyro integrated rotation vector angular velocity data, units are in rad/s.
 *
 * @return Struct containing requested data.
 */
bno08x_ang_vel_t BNO08xRptIGyroRV::get_vel()
{
    imu->lock_user_data();
    bno08x_ang_vel_t rqdata = data_vel;
    imu->unlock_user_data();
    return rqdata;
}