GenericTask.hpp

Go to the documentation of this file.

#ifndef CONTROLDEV_GENERICTASK_TASK_HPP
#define CONTROLDEV_GENERICTASK_TASK_HPP

#include "controldev/GenericTaskBase.hpp"
#include "ControlDevTypes.hpp"
#include <vector>

namespace controldev {
    class GenericTask : public GenericTaskBase
    {
        friend class GenericTaskBase;
    protected:
        virtual bool updateRawCommand(RawCommand& rcmd) = 0;

        virtual int getFileDescriptor() = 0;
        
        class AxisPortHandle
        {
        public:
            AxisPort portDesc;
            RTT::OutputPort<double> *port;
        };
        
        std::vector<AxisPortHandle> axisHandles;
        std::vector<double> axisScales;
    public:
        GenericTask(std::string const& name = "controldev::GenericTask");
        GenericTask(std::string const& name, RTT::ExecutionEngine* engine);

        virtual ~GenericTask();

        virtual bool configureHook();

        virtual bool startHook();

        virtual void updateHook();
        

        // void errorHook();

        // void stopHook();
        virtual void stopHook();

        // void cleanupHook();

        


    };
}

#endif