// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2021/03/03
//  filename:   IpcdAhrs.cpp
//
//  author:     Sébastien Ambroziak
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for an ipc ahrs
//
//
/*********************************************************************/


#include "IpcAhrs.h"
#include "IpcImu.h"
#include <AhrsData.h>

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

namespace flair {
namespace filter {

IpcAhrs::IpcAhrs(string name, uint8_t priority, const char* ipc_name, int ipc_channel)
    : Ahrs(new IpcImu("imu", priority, ipc_name, ipc_channel, false), name) {
  SetIsReady(true);
}

IpcAhrs::~IpcAhrs() {}

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

  Quaternion quaternion;
  Vector3Df filteredAngRates;
  input->GetQuaternionAndAngularRates(quaternion, filteredAngRates);
  output->SetQuaternionAndAngularRates(quaternion, filteredAngRates);
  output->SetDataTime(input->DataTime());

  ProcessUpdate(output);
}

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