////  SerialInterface.h//    #ifndef __interface__SerialInterface__#define __interface__SerialInterface__ #include <glm/glm.hpp>#include "Util.h"#include "world.h"#include "InterfaceConfig.h"#include "Log.h" // These includes are for serial port reading/writing#ifdef __APPLE__#include <unistd.h>#include <fcntl.h>#include <termios.h>#include <dirent.h>#endif #define NUM_CHANNELS 6 //  Acceleration sensors, in screen/world coord system (X = left/right, Y = Up/Down, Z = fwd/back)#define ACCEL_X 3 #define ACCEL_Y 4 #define ACCEL_Z 5  //  Gyro sensors, in coodinate system of head/airplane#define HEAD_PITCH_RATE 1#define HEAD_YAW_RATE 0#define HEAD_ROLL_RATE 2 extern const bool USING_INVENSENSE_MPU9150; class SerialInterface {public:    SerialInterface() : active(false),                        _lastAccelX(0),                        _lastAccelY(0),                        _lastAccelZ(0),                        _lastYawRate(0),                        _lastPitchRate(0),                        _lastRollRate(0) {}        void pair();    void readData();        float getLastYawRate() const { return _lastYawRate; }    float getLastPitchRate() const { return _lastPitchRate; }    float getLastRollRate() const { return _lastRollRate; }    glm::vec3 getLastAcceleration() { return glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ); };    glm::vec3 getGravity() {return _gravity;};        void renderLevels(int width, int height);    bool active;    private:    void initializePort(char* portname, int baud);    void resetSerial();     int _serialDescriptor;    int totalSamples;    timeval lastGoodRead;    glm::vec3 _gravity;    float _lastAccelX;    float _lastAccelY;    float _lastAccelZ;    float _lastYawRate;         //  Rates are in degrees per second.     float _lastPitchRate;    float _lastRollRate;}; #endif