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

  DESCRIPTION: Output for data from the AHRS instruments

  $Id: AHRSOutput.h,v 1.5 2000/03/21 21:31:34 oreilly Exp $
  *-----------------------------------------------------------------------*/

#ifndef _AHRS_OUTPUT_H
#define _AHRS_OUTPUT_H

#include "SharedData.h"
#include "time.h"
#include "DeviceIF.h"
#define AHRSOutputName "ahrsOutput"
#define AHRSSemName "ahrsOutput_sem"

class AHRSOutput : public SharedData {

public:
     
     struct Data {
	  
       double pitch,
	 pitchRate,
	 roll,
	 rollRate,
	 heading,
	 headingRate;
	  
       timespec updateTime;

       char provider[5];
       
       DeviceIF::Status status;
     };
     
     AHRSOutput(Access access = NoAccess,
		   Boolean init = False);
     
     ~AHRSOutput();
     
     ////////////////////////////////////////////////////////////////////
     // Read output command from shared memory
     void read(Data *data);
     
     
     ////////////////////////////////////////////////////////////////////
     // Write output command to shared memory
     void write(Data *data);
};

#endif