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

#ifndef _KvhOutput_H
#define _KvhOutput_H

#include <time.h>
#include "SharedData.h"

#define KvhOutputName "KvhOutput"

/*
CLASS 
KvhOutput

DESCRIPTION
Shared data interface between KVH driver and server

AUTHOR
Aaron Marsh / Tom O'Reilly

*/
class KvhOutput : public SharedData {

public:

  struct Data {

    Boolean inclinometerReady;
    Boolean compassReady;

    double pitch,
      pitchRate,
      roll,
      rollRate,
      heading,
      headingRate;
	  
    timespec updateTime;
  };

  // Instance of Data
  Data data;

  KvhOutput(Access access = NoAccess, Boolean init = False);

  ~KvhOutput();

  ////////////////////////////////////////////////////////////////////
  // Read Data from shared memory
  void read();

  ////////////////////////////////////////////////////////////////////
  // Write Data to shared memory
  void write();
};

#endif