/*****************************************************************************
 * Copyright (c) 2002-2020 MBARI
 * Monterey Bay Aquarium Research Institute, all rights reserved.
 *****************************************************************************
 * @file    LcmDeltaT.h
 * @authors r. henthorn
 * @date    11/23/2020
 * @brief   LcmDeltaT client interface module
 *
 * Project: LRAUV Obstacle Avoidance (oahu)
 * Summary: Derived class of DeltaT to publish 83P data using lrauv-lcmtypes.
 *****************************************************************************/

 #ifndef LCMDELTAT_H
 #define LCMDELTAT_H

/*****************************************************************************
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 * Monterey Bay Aquarium Research Institute, all rights reserved.
 *
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/******************************
 * Headers
 ******************************/

#include <lcm/lcm-cpp.hpp>
#include "TethysLcmTypes/LrauvLcmMessage.hpp"
#include "LcmMessageWriter.h"

#include "DeltaT.h"

/******************************
 * Macros
 ******************************/

class LcmDeltaT : public DeltaT
{
public:

   LcmDeltaT(const DeltaTConfig &config);
   virtual ~LcmDeltaT();

   // Override getData() to also publish data on LCM.
   // attempt to read a packet from a DeltaT source.
   // return parsed info in the Idt83pData parameter object.
   // returns NULL if unsuccessful.
   // otherwise, returns pointer to the parsed data in the
   // Idt83pData parameter object passed in.
   Idt83pData* getData(Idt83pData *data);


   /* data */

protected:

   void init83pState();

   lcm::LCM *_lcm;
   lrauv_lcm_tools::LcmMessageWriter<std::string> *_msgWriter;

   /* data */

private:

   /* data */

};
#endif