extends BaseSensorNode
class_name MagnetSensorNode


var heading_rad: float = 0


# Called when the node enters the scene tree for the first time.
func _ready() -> void:
	super._ready()
	DataSignals.magnetometer_data_received.connect(_on_data_received)
	
func _on_data_received(source_ip: String, timestamp_list: Array, mag_vec: Array):
	if source_ip != ip_address:
		return
	var msg_timestamp = timestamp_list[0] * 3600 + timestamp_list[1] * 60 + timestamp_list[2] + timestamp_list[3]
	if not Constants.is_timestamp_newer(timestamp, msg_timestamp):
		return
	timestamp = msg_timestamp
	var mag = Vector2(mag_vec[0], mag_vec[1])
	mag.normalized()
	heading_rad = atan2(-mag[1], mag[0])
	Signals.sensor_mag_updated.emit(ip_address)
	Signals.heading_updated.emit(ip_address, heading_rad)