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

#include "PeriodicTask.h"
#include "SerialDevice.h"
#include "CompassOutput.h"

/*
CLASS 
KvhCompassDriver 

DESCRIPTION
KvhCompass device driver.

AUTHOR
Tom O'Reilly

*/

class KvhCompassDriver : public Task
{
public:
  KvhCompassDriver(const char *ttyName);

  ~KvhCompassDriver();

  ///////////////////////////////////////////////////////////////////
  // Log data to file
  virtual void log(int millisec);
  
  ///////////////////////////////////////////////////////////////////
  // Stringify current status
  virtual void status(char *str);

  ///////////////////////////////////////////////////////////////////
  // Stringify "current data"
  virtual void currentData(char *str);

  virtual void run();

protected:

  int _kvhUpdateRate;			// Update rate in Hz

  speed_t _baudRate;
  int 	  _dataBits;
  int 	  _stopBits;
  const char *_parity;

  SerialDevice  *_device;
  CompassOutput *_output;
  CompassOutput::Data _outputData;

private:

  int initialize(void);
  int readData(void);

  int startData(void);
  int stopData(void);
  int setKvhDefaultMsgType(void);
  int setKvhAutocal(Boolean mode);
  int setKvhFifoLongTermAvg(int sampleSize);
  int setKvhUpdateRate(int rate);
  int getKvhUpdateRate(int *rate);
};


#endif