Task.hpp

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

#ifndef DVL_TELEDYNE_TASK_TASK_HPP
#define DVL_TELEDYNE_TASK_TASK_HPP

#include "dvl_teledyne/TaskBase.hpp"

namespace aggregator {
    class TimestampEstimator;
}

namespace dvl_teledyne {
    class Driver;
    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        Driver* mDriver;
        aggregator::TimestampEstimator* mTimestamper;

        // The sequence number without wraparounds
        uint64_t mGlobalSeq;
        // The last received sequence number
        int32_t mLastSeq;

        double var;

    public:
        Task(std::string const& name = "dvl_teledyne::Task");
        Task(std::string const& name, RTT::ExecutionEngine* engine);

        ~Task();

        bool configureHook();

        bool startHook();

        void processIO();

        // void updateHook();

        // void errorHook();

        void stopHook();

        // void cleanupHook();
    };
}

#endif