PanTiltTask.hpp

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

#ifndef ACT_SCHILLING_PANTILTTASK_TASK_HPP
#define ACT_SCHILLING_PANTILTTASK_TASK_HPP

#include "act_schilling/PanTiltTaskBase.hpp"

namespace act_schilling {
    class Driver;
    class PanTiltTask : public PanTiltTaskBase
    {
        friend class PanTiltTaskBase;
    protected:
      Driver* mDriver;




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

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

        ~PanTiltTask();

         bool configureHook();

         bool startHook();

         void updateHook();

         void errorHook();

         void stopHook();

         void cleanupHook();

         void calibrate();

         void setControlMode(act_schilling::ControlMode const & mode);

     void setDefaultPos(int defPos);

     void setActualPosAsDefault(int defPos);

    private:
         void processIO();

         void statusCheck(const ActDeviceStatus& devStatus);

         void run();

//   void setRawCmd();

         ActDeviceStatus devLogStatus;

     act_schilling::JoyStickMapping mJoystickMap;
     act_schilling::ControlMode mControlMode;
     double mVelocity;
     int mSetDefaultPos;
     bool mSetDefaultFlag,mVelocityFlag;
     std::vector<uint8_t> mDefaultValButtonsOld;
     int  mDefaultValButtonSize;
     bool mTriggerButtonFlag;
//   hrov_control::RawCommand mRawCmd;
    };
}

#endif