Base.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef AUV_CONTROL_BASE_TASK_HPP
#define AUV_CONTROL_BASE_TASK_HPP

#include "auv_control/BaseBase.hpp"
#include <string.h>

namespace auv_control {

    struct LinearAngular6DCommandStatus{
        base::LinearAngular6DCommand command;
        RTT::FlowStatus status;
        LinearAngular6DCommandStatus(){
            command = base::LinearAngular6DCommand();
            status = RTT::NoData;
        }
    };

    class Base : public BaseBase
    {
        friend class BaseBase;
    protected:
        typedef RTT::InputPort<base::LinearAngular6DCommand> InputPortType;
        struct InputPortInfo{
            std::string name;
            base::Time timeout;
            base::Time last_sample_time;
            base::Time last_system_time;
            InputPortType *input_port;
            InputPortInfo()
                :input_port(0){}
        };

        std::vector<InputPortInfo> input_ports;
        std::vector<Base::InputPortInfo*> connected_input_ports;

        void registerInput(std::string const& name, base::Time timeout, InputPortType* input_port);
        InputPortType* deregisterInput(std::string const& name);
        base::Time newestCommandTime;

        bool verifyTimeout(const base::Time &newest_command);

        bool verifyMissingData(const auv_control::ExpectedInputs &expected, const base::LinearAngular6DCommand &command);

        bool checkConnectedPorts(std::vector<Base::InputPortInfo> &input_ports, std::vector<Base::InputPortInfo*> &connected_input_ports);

        States gatherInputCommand(LinearAngular6DCommandStatus &merged_command, std::vector<Base::InputPortInfo*> &connected_ports);

        virtual bool addCommandInput(::std::string const & name, ::base::Time const & timeout);

        virtual void keepPosition();

        virtual bool calcOutput(const LinearAngular6DCommandStatus &merged_command) = 0;

    public:
        Base(std::string const& name = "auv_control::Base");

        Base(std::string const& name, RTT::ExecutionEngine* engine);

        ~Base();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

        States performOneLoop();
    private:
        States merge(auv_control::ExpectedInputs const& expected, base::LinearAngular6DCommand const& current, base::LinearAngular6DCommand &merged);


    };
}

#endif