text: # The MIT License (MIT)
  #
  # Copyright (c) 2019 Dan Halbert for Adafruit Industries
  #
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  # THE SOFTWARE.
  """
  `adafruit_bluefruit_connect.quaternion_packet`
  ====================================================
  
  Bluefruit Connect App Quaternion data packet.
  
  * Author(s): Dan Halbert for Adafruit Industries
  
  """
  
  import struct
  
  from ._xyz_packet import _XYZPacket
  
  
  class QuaternionPacket(_XYZPacket):
      """A packet of x, y, z float values. Used for several different Bluefruit controller packets."""
  
      # Use _XYZPacket to handle x, y, z, and add w.
  
      _FMT_PARSE = "<xxffffx"
      PACKET_LENGTH = struct.calcsize(_FMT_PARSE)
      # _FMT_CONSTRUCT doesn't include the trailing checksum byte.
      _FMT_CONSTRUCT = "<2sffff"
      _TYPE_HEADER = b"!Q"
  
      def __init__(self, x, y, z, w):
          """Construct a QuaternionPacket from the given x, y, z, and w float values."""
          super().__init__(x, y, z)
          self._w = w
  
      def to_bytes(self):
          """Return the bytes needed to send this packet.
          """
          partial_packet = struct.pack(
              self._FMT_CONSTRUCT, self._TYPE_HEADER, self._x, self._y, self._z, self._w
          )
          return partial_packet + self.checksum(partial_packet)
  
      @property
      def w(self):
          """The w value."""
          return self._w
  
  
  # Register this class with the superclass. This allows the user to import only what is needed.
  QuaternionPacket.register_packet_type()
  