Dsp3000Task.hpp

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

#ifndef DSP3000_TASK_TASK_HPP
#define DSP3000_TASK_TASK_HPP

#include "fog_kvh/Dsp3000TaskBase.hpp"
#include <base/samples/IMUSensors.hpp>

namespace aggregator
{
    class TimestampEstimator;
};
namespace RTT { namespace extras { class FileDescriptorActivity; } }

namespace fog_kvh {
    class Dsp3000Driver;
    class Dsp3000Task : public Dsp3000TaskBase
    {
        friend class Dsp3000TaskBase;
    protected:
        
        Dsp3000Driver *driver;
        double sum;
        int id;
    aggregator::TimestampEstimator* timestamp_estimator;
        dsp3000Mode currentMode;
        base::samples::IMUSensors driverData;
        RTT::extras::FileDescriptorActivity* activity;



    public:
        Dsp3000Task(std::string const& name = "fog_kvh::Dsp3000Task");
                ~Dsp3000Task();
         bool configureHook();

         bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

         void cleanupHook();
    };
}

#endif