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

  DESCRIPTION: Shared mem for Crossbow DMU_AHRS Attitude Heading Reference
  System output channel

  AUTHOR: Aaron Marsh

  $Id: CrossbowOutput.cc,v 1.4 2000/05/12 15:27:19 oreilly Exp $
 *-----------------------------------------------------------------------*/

#include "CrossbowOutput.h"



CrossbowOutput::CrossbowOutput( Access access, Boolean init ) 
     : SharedData( CompassOutputName, sizeof( Data ), access, init )
{
     
}

CrossbowOutput::~CrossbowOutput()
{

}

void CrossbowOutput::read()
{
  SharedData::read((void *)&data);
}


void CrossbowOutput::write()
{
  SharedData::write((void *)&data);
}


void CrossbowOutput::clear()
{
     data.roll = data.rollRate = data.pitch = data.pitchRate = 0;
     data.yaw = data.yawRate = 0.0;
     data.accelX = data.accelY = data.accelZ = 0;
     data.magX = data.magY = data.magZ = 0;
     data.temperature = 0;
     data.serialNumber[0] = '\0';
}