DW1000Time.h

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#ifndef DW1000TIME_H
#define DW1000TIME_H

#include <Arduino.h>
#include <stdint.h>
#include <inttypes.h>
#include "DW1000CompileOptions.h"
#include "deprecated.h"
#include "require_cpp11.h"

#if DW1000TIME_H_PRINTABLE
class DW1000Time : public Printable {
#else
class DW1000Time {
#endif // DW1000Time_H_PRINTABLE
public:
    // Time resolution in micro-seconds of time based registers/values.
    // Each bit in a timestamp counts for a period of approx. 15.65ps
    static constexpr float TIME_RES     = 0.000015650040064103f;
    static constexpr float TIME_RES_INV = 63897.6f;
    
    // Speed of radio waves [m/s] * timestamp resolution [~15.65ps] of DW1000
    static constexpr float DISTANCE_OF_RADIO     = 0.0046917639786159f;
    static constexpr float DISTANCE_OF_RADIO_INV = 213.139451293f;
    
    // timestamp byte length - 40 bit -> 5 byte
    static constexpr uint8_t LENGTH_TIMESTAMP = 5;
    
    // timer/counter overflow (40 bits) -> 4overflow approx. every 17.2 seconds
    static constexpr int64_t TIME_OVERFLOW = 0x10000000000; //1099511627776LL
    static constexpr int64_t TIME_MAX      = 0xffffffffff;
    
    // time factors (relative to [us]) for setting delayed transceive
    // TODO use non float
    static constexpr float SECONDS      = 1e6;
    static constexpr float MILLISECONDS = 1e3;
    static constexpr float MICROSECONDS = 1;
    static constexpr float NANOSECONDS  = 1e-3;
    
    // constructor
    DW1000Time();
    DW1000Time(int64_t time);
    DW1000Time(byte data[]);
    DW1000Time(const DW1000Time& copy);
    DW1000Time(float timeUs);
    DW1000Time(int32_t value, float factorUs);
    ~DW1000Time();
    
    // setter
    // dw1000 timestamp, increase of +1 approx approx. 15.65ps real time
    void setTimestamp(int64_t value);
    void setTimestamp(byte data[]);
    void setTimestamp(const DW1000Time& copy);
    
    // real time in us
    void setTime(float timeUs);
    void setTime(int32_t value, float factorUs);
    
    // getter
    int64_t getTimestamp() const;
    void    getTimestamp(byte data[]) const;
    
    DEPRECATED_MSG("use getAsMicroSeconds()")
    float getAsFloat() const;
    // getter, convert the timestamp to usual units
    float getAsMicroSeconds() const;
    //void getAsBytes(byte data[]) const; // TODO check why it is here, is it old version of getTimestamp(byte) ?
    float getAsMeters() const;
    
    DW1000Time& wrap();
    
    // self test
    bool isValidTimestamp();
    
    // assign
    DW1000Time& operator=(const DW1000Time& assign);
    // add
    DW1000Time& operator+=(const DW1000Time& add);
    DW1000Time operator+(const DW1000Time& add) const;
    // subtract
    DW1000Time& operator-=(const DW1000Time& sub);
    DW1000Time operator-(const DW1000Time& sub) const;
    // multiply
    // multiply with float cause lost in accuracy, because float calculates only with 23bit matise
    DW1000Time& operator*=(float factor);
    DW1000Time operator*(float factor) const;
    // no accuracy lost
    DW1000Time& operator*=(const DW1000Time& factor);
    DW1000Time operator*(const DW1000Time& factor) const;
    // divide
    // divide with float cause lost in accuracy, because float calculates only with 23bit matise
    DW1000Time& operator/=(float factor);
    DW1000Time operator/(float factor) const;
    // no accuracy lost
    DW1000Time& operator/=(const DW1000Time& factor);
    DW1000Time operator/(const DW1000Time& factor) const;
    // compare
    boolean operator==(const DW1000Time& cmp) const;
    boolean operator!=(const DW1000Time& cmp) const;

#ifdef DW1000TIME_H_PRINTABLE
    // print to serial for debug
    DEPRECATED_MSG("use Serial.print(object)")
    void print();
    // for usage with e.g. Serial.print()
    size_t printTo(Print& p) const;
#endif // DW1000Time_H_PRINTABLE
    
private:
    // timestamp size from dw1000 is 40bit, maximum number 1099511627775
    // signed because you can calculate with DW1000Time; negative values are possible errors
    int64_t _timestamp = 0;
};

#endif // DW1000Time_H