Task.hpp

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#ifndef HOKUYO_TASK_TASK_HPP
#define HOKUYO_TASK_TASK_HPP

#include "hokuyo/TaskBase.hpp"

namespace aggregator
{
    class TimestampEstimator;
}

class URG;

namespace hokuyo {
    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
    
        URG* m_driver;
        // Period of one acquisition in seconds
        double m_devicePeriod;
        aggregator::TimestampEstimator* timestampEstimator;

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

        bool configureHook();

        bool startHook();

        void updateHook();
        

//         void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif