// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2011/08/19
//  filename:   Gx3_25_imu.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant la centrale 3dmgx3-25
//
//
/*********************************************************************/

#include "Gx3_25_imu.h"
#include <FrameworkManager.h>
#include "Gx3_25_imu_impl.h"
#include <GroupBox.h>
#include <ImuData.h>

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

namespace flair { namespace sensor {

Gx3_25_imu::Gx3_25_imu(const FrameworkManager* parent,string name,SerialPort* serialport,Command_t command,uint8_t priority) : Imu(parent,name),Thread(parent,name,priority) {
    pimpl_=new Gx3_25_imu_impl(this,name,serialport,command,GetGroupBox());

    if(command==EulerAnglesAndAngularRates) {

    } else if(command==AccelerationAngularRateAndOrientationMatrix) {
        Thread::Err("oneaxis rotation of rotation matrix is not yet implemented\n");
    } else {
        Thread::Err("command not supported (%i)\n",command);
    }
    //AddDataToLog(imudata);
}

Gx3_25_imu::~Gx3_25_imu() {
    SafeStop();
    Join();
    delete pimpl_;
}

void Gx3_25_imu::Run(void) {
    pimpl_->Run();
}

} // end namespace sensor
} // end namespace flair