Task.hpp

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

#ifndef CANBUS_TASK_TASK_HPP
#define CANBUS_TASK_TASK_HPP

#include "canbus/TaskBase.hpp"
#include <rtt/OutputPort.hpp>

namespace canbus {
    class Driver;

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        /* Handler for the unwatch operation
         */
        virtual bool watch(std::string const& name, int id, int mask);
        /* Handler for the watch operation
         */
        virtual bool unwatch(std::string const& name);

        struct Mapping
        {
            std::string name;
            int id;
            int mask;
            RTT::OutputPort<canbus::Message>* output;
        };
        typedef std::vector<Mapping> Mappings;

        struct MappingCacheItem
        {
            int id;
            std::vector<RTT::OutputPort<canbus::Message>* > outputs;
        };
        typedef std::map<uint32_t, MappingCacheItem> MappingCache;      

        canbus::Driver *m_driver;
        canbus::Statistics m_stats;
        Mappings    m_mappings;
        MappingCache m_mapping_cache;
        base::Time m_last_can_check_time;
        base::Time m_last_stats_time;

        base::Time m_can_check_interval;
        base::Time m_stats_interval;

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

        bool configureHook();

        bool startHook();

        void updateHook();


        // void errorHook();

        void stopHook();

        void cleanupHook();

    };
}

#endif