Task.hpp

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

#ifndef JOINT_DISPATCHER_TASK_TASK_HPP
#define JOINT_DISPATCHER_TASK_TASK_HPP

#include "joint_dispatcher/TaskBase.hpp"
#include <joint_dispatcher/Dispatcher.hpp>

namespace joint_dispatcher {

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
        typedef RTT::OutputPort<base::samples::Joints> OutputPort;
        typedef RTT::InputPort<base::samples::Joints> InputPort;

        std::vector<InputPort*> mInputPorts;
        std::vector<OutputPort*> mOutputPorts;

        Dispatcher mDispatcher;
        base::samples::Joints mJoint;
        
        std::map<std::string,std::string> jointToStreamMap;

        void clearPorts();


    public:
        Task(std::string const& name = "joint_dispatcher::Task");

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif