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#ifndef PARSER_H
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#ifndef PARSER_H
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#define PARSER_H
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#define PARSER_H
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#include "Kopter.h"
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#include <cmath>
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#include <cmath>
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#include <string>
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/**
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/**
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 * The Parser gets values from the Mikrokopter-USART interface
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 * The Parser gets values from the Mikrokopter-USART interface
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 *  and parses them into a sRxData-Struct
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 *  and parses them into a sRxData-Struct
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    int decLen;
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    int decLen;
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};
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};
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*/
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*/
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class Parser {
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class Parser {
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    public:
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    public:
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        void create_frame(char cmd, int address, char * data, unsigned int length);
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        static void create_frame(char cmd, int address, char * data, unsigned int length);
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        static int decode64(char * data, int len, unsigned char *ptrOut, int offset);
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        static int decode64(char * data, int len, unsigned char *ptrOut, int offset);
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        static void encode64(char data[150],unsigned int length);
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        static void encode64(char data[150],unsigned int length);
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        static void add_CRC(char * tx, int length);
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        static void add_CRC(char * tx, int length);
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        static bool check_CRC(char * rx, int length);
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        static bool check_CRC(char * rx, int length);
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        static float getFloat(long value, int count);
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        static float getFloat(long value, int count);
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        static int dataToInt(char *data , int start, bool is_signed = true);
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        static int dataToInt(int *data , int start, bool is_signed = true);
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        static long dataToLong(char *data , int start, bool is_signed = true);
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        static long dataToLong(int *data , int start, bool is_signed = true);
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        static int dataToChar(char *data , int start, bool is_signed = true);