///////////////////////////////////////////////////////////////////////////
//
//   MOOS - Mission Oriented Operating Suite
//
//   A suit of Applications and Libraries for Mobile Robotics Research
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and
//   Oxford University.
//
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk.
//
//   This file is part of a  MOOS Instrument.
//
//   This program is free software; you can redistribute it and/or
//   modify it under the terms of the GNU General Public License as
//   published by the Free Software Foundation; either version 2 of the
//   License, or (at your option) any later version.
//
//   This program is distributed in the hope that it will be useful,
//   but WITHOUT ANY WARRANTY; without even the implied warranty of
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
//   General Public License for more details.
//
//   You should have received a copy of the GNU General Public License
//   along with this program; if not, write to the Free Software
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
//   02111-1307, USA.
//
//////////////////////////    END_GPL    //////////////////////////////////
// MOOSSAILDriver.h: interface for the CMOOSSAILDriver class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOOSSAILDRIVER_H__28D26D20_FC55_44BD_9FC9_3112A4E76704__INCLUDED_)
#define AFX_MOOSSAILDRIVER_H__28D26D20_FC55_44BD_9FC9_3112A4E76704__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "MOOSActuationDriver.h"

class CMOOSSAILDriver  : public CMOOSActuationDriver
{
    class CSailCommand
    {
    public:
        CSailCommand(string sCmd,bool bWait)
        {
            m_sCmd=sCmd;
            m_bWaitForReply = bWait;
        };
        string m_sCmd;
        bool m_bWaitForReply;
    };


public:

    CMOOSSAILDriver();
    virtual ~CMOOSSAILDriver();

    virtual bool Initialise();
    virtual bool SetThrust(double dfPercent);
    virtual bool SetRudder(double dfAng);
    virtual bool SetElevator(double dfAng);
    virtual bool SetZeroRudder();
    virtual bool SetZeroElevator();



protected:
    bool DoFinControl(const char * sAddress, double dfAng);
};

#endif // !defined(AFX_MOOSSAILDRIVER_H__28D26D20_FC55_44BD_9FC9_3112A4E76704__INCLUDED_)