// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/01/14
//  filename:   Ahrs.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Virtual class for AHRS
//
//
/*********************************************************************/

#include "Ahrs.h"
#include "Ahrs_impl.h"
#include <Imu.h>
#include <DataPlot1D.h>
#include <AhrsData.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;
using namespace flair::sensor;

namespace flair { namespace filter {

Ahrs::Ahrs(const Imu* parent,string name) : IODevice(parent,name) {
    pimpl_=new Ahrs_impl(this);
    AddDataToLog(pimpl_->ahrsData);
}

Ahrs::~Ahrs() {
    delete pimpl_;
}

const Imu *Ahrs::GetImu(void) const {
    return (Imu*)Parent();
}

const AhrsData *Ahrs::GetDatas(void) const {
    return pimpl_->ahrsData;
}

void Ahrs::GetDatas(core::AhrsData **ahrsData) const {
    *ahrsData=pimpl_->ahrsData;
}

void Ahrs::LockUserInterface(void) const {
    //((Imu*)Parent())->LockUserInterface();
}

void Ahrs::UnlockUserInterface(void) const {
    //((Imu*)Parent())->UnlockUserInterface();
}

void Ahrs::UseDefaultPlot(void) {
    pimpl_->UseDefaultPlot();
    ((Imu*)Parent())->UseDefaultPlot();
}

void Ahrs::AddPlot(const AhrsData *ahrsData,DataPlot::Color_t color) {
    pimpl_->AddPlot(ahrsData,color);
}

DataPlot1D *Ahrs::RollPlot(void) const {
    return pimpl_->rollPlot;
}

DataPlot1D *Ahrs::PitchPlot(void) const {
    return pimpl_->pitchPlot;
}

DataPlot1D *Ahrs::YawPlot(void) const {
    return pimpl_->yawPlot;
}

DataPlot1D *Ahrs::WXPlot(void) const {
    return pimpl_->wXPlot;
}

DataPlot1D *Ahrs::WYPlot(void) const {
    return pimpl_->wYPlot;
}

DataPlot1D *Ahrs::WZPlot(void) const {
    return pimpl_->wZPlot;
}

} // end namespace filter
} // end namespace flair