/*!
 * \file Gx3_25_ahrs.h
 * \brief Class for 3dmgx3-25 ahrs
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/01/16
 * \version 4.0
 */

#ifndef GX3_25_AHRS_H
#define GX3_25_AHRS_H

#include <Ahrs.h>
#include <Gx3_25_imu.h>

namespace flair
{
namespace filter
{
    /*! \class Gx3_25_ahrs
    *
    * \brief Class for 3dmgx3-25 ahrs
    *
    * This class constructs a Gx3_25_imu as Imu of this Ahrs.
    */
    class Gx3_25_ahrs : public Ahrs
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct an Ahrs for 3dmgx3-25
            *
            * \param parent parent
            * \param name name
            * \param serialport Imu SerialPort
            * \param command command for the Gx3_25_imu continuous mode
            * \param priority priority of the Gx3_25_imu Thread
            */
            Gx3_25_ahrs(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,sensor::Gx3_25_imu::Command_t command,uint8_t priority);

            /*!
            * \brief Destructor
            *
            */
            ~Gx3_25_ahrs();

            /*!
            * \brief Start Gx3_25_imu Thread
            *
            */
            void Start(void);

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data);
    };
} // end namespace filter
} // end namespace flair
#endif // GX3_25_AHRS_H