/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : CrossbowServer.h                                              */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
/*-----------------------------------------------------------------------*
  CLASS: CrossbowServer

  DESCRIPTION: Server for Crossbow DMU_AHRS Attitude Heading Reference
  System.

  AUTHOR: Aaron Marsh

  $Id: CrossbowServer.h,v 1.9 2001/06/04 10:58:31 hthomas Exp $
 *-----------------------------------------------------------------------*/

#ifndef _CROSSBOWSERVER_H
#define _CROSSBOWSERVER_H

#include "DeviceInterface.h"
#include "CrossbowIF_SK.h"
#include "CrossbowOutput.h"
#include "CrossbowCommand.h"
#include "SerialParameters.h"

class CrossbowServer : public CrossbowIF_SK {

public:
     CrossbowServer(SerialParameters *serialParams, char *serverName);
     ~CrossbowServer();

protected:

  virtual void name(DeviceIF::Name name);
  virtual void serialNumber(DeviceIF::Name id);
  virtual DeviceIF::Status initialize();
  virtual DeviceIF::Status powerOn();
  virtual DeviceIF::Status powerOff();
  virtual DeviceIF::Status status();
  virtual DeviceIF::Status dataLoggingOn();
  virtual DeviceIF::Status dataLoggingOff();

  virtual DeviceIF::Status getAttitude(AhrsIF::Attitude *attitude, 
				       TimeIF::TimeSpec *sampleTime);

  virtual Boolean magneticCompass();

  virtual DeviceIF::Status acceleration(double *accelX, 
					double *accelY, 
					double *accelZ, 
					TimeIF::TimeSpec *sampleTime);

  virtual DeviceIF::Status magneticVector(double *magX, 
					  double *magY, 
					  double *magZ, 
					  TimeIF::TimeSpec *sampleTime);

  virtual DeviceIF::Status all(AhrsIF::Attitude *attitude, 
			       double *accelX, double *accelY, double *accelZ,
			       double *magX, double *magY, double *magZ, 
			       double *temperature, 
			       TimeIF::TimeSpec *sampleTime);
  

  virtual int spawnAuxTasks( void );

  SerialParameters *_serialParams;
  CrossbowOutput *_output;
  CrossbowOutput::Data outputData;
  CrossbowCommand *_command;
};


#endif