text: 
  //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  #ifndef __PACKETERRORRATEESTIMATOR_H
  #define __PACKETERRORRATEESTIMATOR_H
  
  #include <xscommon/threading.h>
  #include <xscommon/xsens_mutex.h>
  
  class PacketErrorRateEstimator : public xsens::StandardThread
  {
  public:
  	PacketErrorRateEstimator();
  	virtual ~PacketErrorRateEstimator();
  
  	void setExpectedPacketsPerSecond(int16_t packetsPerSecond);
  	void packetReceived(void);
  	uint8_t packetErrorRate(void) const;
  
  protected:
  	virtual void initFunction(void);
  	virtual int32_t innerFunction(void);
  
  private:
  	mutable xsens::Mutex m_mutex;
  	int32_t m_expectedPacketsPerSecond;
  	uint16_t m_receivedPacketCount;
  	uint8_t m_packetErrorRate;
  	int64_t m_previousUpdateTime;
  };
  
  #endif
  