Task.hpp

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

#ifndef IODRIVERS_BASE_TASK_TASK_HPP
#define IODRIVERS_BASE_TASK_TASK_HPP

#include "iodrivers_base/TaskBase.hpp"

namespace iodrivers_base {
    class Driver;
    class PortListener;
    class PortStream;
    class ConfigureGuard;

    class Task : public TaskBase
    {
        friend class TaskBase;
    friend class ConfigureGuard;
    protected:
        Driver* mDriver;

        PortStream* mStream;
        PortListener* mListener;

        RawPacket mRawPacket;
        base::Time mLastStatus;

        void setDriver(Driver* driver);

        void detachDriver();

        Driver* getDriver() const;

        void pushAllData();

        bool hasIO();

        virtual void processIO() = 0;

        void updateIOStatus();

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

        bool configureHook();

        bool startHook();

        void updateHook();

        void exceptionHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif