//  created:    2014/02/07
//  filename:   SimuAhrs.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for a simulation ahrs
//
//
/*********************************************************************/

#include "SimuAhrs.h"
#include "SimuImu.h"
#include <FrameworkManager.h>
#include <AhrsData.h>

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

namespace flair { namespace filter {

SimuAhrs::SimuAhrs(const FrameworkManager* parent,string name,uint32_t dev_id,uint8_t priority) :Ahrs(new SimuImu(parent,name,dev_id,priority),name) {
}

SimuAhrs::~SimuAhrs() {}

void SimuAhrs::Start(void) {
    ((SimuImu*)GetImu())->Start();
}

//datas from SimuImu are AhrsData!
void SimuAhrs::UpdateFrom(const io_data *data) {
    AhrsData *input=(AhrsData*)data;
    AhrsData *output;
    GetDatas(&output);

    Quaternion quaternion;
    Vector3D filteredAngRates;
    input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
    output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
    output->SetDataTime(input->DataTime());

    ProcessUpdate(output);
}

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