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

#include "SharedData.h"
#include "NavigationIF.h"

#define NavigationOutputName "navigationOutput"

/*
CLASS 
NavigationOutput

DESCRIPTION
SharedData interface between Navigation and NavigationServer

AUTHOR
Tom O'Reilly
*/
class NavigationOutput : public SharedData {

public:

  struct State {
    NavigationIF::Attitude attitude;
    NavigationIF::Position position;
  };

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

  ~NavigationOutput();

  ////////////////////////////////////////////////////////////////////
  // Read output command from shared memory
  void read(State *state);


  ////////////////////////////////////////////////////////////////////
  // Write output command to shared memory
  void write(State *state);


  ////////////////////////////////////////////////////////////////////
  // Read from shared memory to this object's state member
  void read();

  ////////////////////////////////////////////////////////////////////
  // Write from this object's state member to shared memory
  void write();

  State state;
};

#endif