#ifndef __mt_X4_Diags_T1_2_h
#define __mt_X4_Diags_T1_2_h

#include "Exec/mt.h"

#include "module_QuaternionT1.h"
#include "PhR_X4_GPS_PhR.h"

class RobotTask; 
class orc_RT_X4_Diags_T1; 
class orc_Mt_X4_Diags_T1_2;
extern void fct_X4_Diags_T1_2(orc_Mt_X4_Diags_T1_2*);

class orc_Mt_X4_Diags_T1_2: public ModuleTask
{
	 friend void fct_X4_Diags_T1_2(orc_Mt_X4_Diags_T1_2*);
protected:
	 orc_Mod_QuaternionT1 QuaternionT1_28;
	 orc_PhR_X4_GPS_PhR* X4_GPS_PhR;
	 orc_RT_X4_Diags_T1 *pRT;
public: 
	 void InitTrace();
public:

	 orc_Mt_X4_Diags_T1_2(RobotTask *rt, char *name, int itFilter,double period, SYNC_TYPE S_Type, int priority, int nb_sem_link, CONSTRAINT_TYPE C_Type)
	 :ModuleTask((FUNCPTR) fct_X4_Diags_T1_2,rt,name,itFilter,period,S_Type,priority,nb_sem_link, C_Type), 
	 QuaternionT1_28(this,period)
	 {
	    InitTrace();
	    X4_GPS_PhR = (orc_PhR_X4_GPS_PhR*) RT->GetPhR();
	    pRT=(orc_RT_X4_Diags_T1 *) (RT);
	 }
	 ~orc_Mt_X4_Diags_T1_2(){};
	 void Param();
     void ReParam();
     int SetT1Exceptions();
};
#endif