Task.hpp

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

#ifndef ACT_SCHILLING_TASK_TASK_HPP
#define ACT_SCHILLING_TASK_TASK_HPP

#include "act_schilling/TaskBase.hpp"

namespace act_schilling {
    class Driver;
    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
      Driver* mDriver;




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

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

        ~Task();

         bool configureHook();

         bool startHook();

         void updateHook();

         void errorHook();

         void stopHook();

         void cleanupHook();
         
         void calibrate();
         
         void setControlMode(act_schilling::ControlMode const & mode);
         
    private:
         void processIO();
         
         void statusCheck(const ActDeviceStatus& devStatus);
         
         void run();
         
         ActDeviceStatus devLogStatus;
    };
}

#endif