/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : DummyTailCone.cc                                              */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#include <time.h>
#include <process.h>
#include "DummyTailCone.h"

DummyTailCone::DummyTailCone()
  : TailConeIF_SK()
{
  _rudder = _elevator = _propSpeed = 0.;
  enableThruster();
}


DummyTailCone::~DummyTailCone()
{
}


long DummyTailCone::setPropellerSpeed(double speed)
{
  _propSpeed = speed;
  return 0;
}


long DummyTailCone::setElevator(double angle)
{
  _elevator = angle;
  return 0;
}


long DummyTailCone::setRudder(double angle)
{
  _rudder = angle;
  return 0;
}


long DummyTailCone::command(double speed, double elevator, double rudder)
{
  _rudder = rudder;
  _elevator = elevator;
  _propSpeed = speed;
  return 0;
}


long DummyTailCone::initialize()
{
  return 0;
}


long DummyTailCone::setDeadman(short seconds)
{
  return 0;
}


long DummyTailCone::configure(short serialNo, TailConeIF::MotorType type, 
				  double slewRate, long currentLimit)
{
  return 0;
}


long DummyTailCone::configuration(short *serialNo, 
				      TailConeIF::MotorType *type, 
				      double *slewRate, long *currentLimit)
{
  return 0;
}


long DummyTailCone::propellerSpeed(double *omega, long *sampleTime)
{
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::elevator(double *angle, long *sampleTime)
{
  double rudder;
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::rudder(double *angle, long *sampleTime)
{
  double elevator;
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::actual(double *omega, double *elevator, 
			       double *rudder, 
			       long *sampleTime)
{
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::health(long *statusWord, long *time)
{
  return 0;
}


long DummyTailCone::temperatures(float *motor, float *actuator, 
				     long *sampleTime)
{
  *motor = 0.;
  *actuator = 0.;
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::currents(float *motor, float *actuator, 
				 long *sampleTime)
{
  *motor = 0.;
  *actuator = 0.;
  *sampleTime = time(0);
  return 0;
}


long DummyTailCone::groundFault(float *current)
{
  *current = 0.;
  return 0;
}


int DummyTailCone::spawnAuxTasks()
{
  return 0;
}


void DummyTailCone::enableThruster()
{
  _thrusterEnabled = True;
}


void DummyTailCone::disableThruster()
{
  _thrusterEnabled = False;
}


Boolean DummyTailCone::thrusterEnabled()
{
  return _thrusterEnabled;
}