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

  DESCRIPTION: Server for Octans DMU_AHRS Attitude Heading Reference
  System.

  AUTHOR: Aaron Marsh

  $Id: KearfottServer.h,v 1.5 2001/07/12 13:41:18 hthomas Exp $
 *-----------------------------------------------------------------------*/

#ifndef _KEARFOTTSERVER_H
#define _KEARFOTTSERVER_H

#include "DeviceInterface.h"
#include "InsIF_SK.h"
#include "KearfottOutput.h"
#include "SerialParameters.h"

class KearfottServer : public InsIF_SK {

public:
     KearfottServer(SerialParameters *serialParams, char *ifServerName);
     ~KearfottServer();

protected:

  virtual void name(DeviceIF::Name name);
  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 void serialNumber(DeviceIF::Name name);
  virtual DeviceIF::Status getInertialState(InsIF::InertialState *insState, 
					    TimeIF::TimeSpec *sampleTime);

  // Get the data

  virtual int spawnAuxTasks( void );

  double m_lastPingTime;

  SerialParameters *_serialParams;
  KearfottOutput *_kearfottOutput;
  KearfottOutput::Data outputData;
};


#endif