Profiling.hpp

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

#ifndef SONAR_DRIVER_PROFILING_TASK_HPP
#define SONAR_DRIVER_PROFILING_TASK_HPP

#include "sonar_tritech/ProfilingBase.hpp"
#include <sonar_tritech/SeaNetProfiling.hpp>
#include <iodrivers_base/Timeout.hpp>

namespace sonar_tritech {
    class Profiling : public ProfilingBase
    {
    protected:
        sea_net::Profiling profiling;
        base::samples::LaserScan laser_scan;
        
        /* Dynamic Property setter of config
         */
        virtual bool setAcquisition_config(::sea_net::ProfilingAcquisitionConfig const & value);

        void pushProfile();
        
    public:
        Profiling(std::string const& name = "sonar_tritech::Profiling");

        bool configureHook();

        bool startHook();

        void processIO();

        // void errorHook();

        void stopHook();

        // void cleanupHook();

    private:
        bool hasAcquisitionTimeout;
        iodrivers_base::Timeout timeoutAcquisition;
    };
}

#endif