Task.hpp

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#ifndef XSENS_IMU_TASK_TASK_HPP
#define XSENS_IMU_TASK_TASK_HPP

#include "xsens_imu/TaskBase.hpp"

namespace aggregator
{
    class TimestampEstimator;
}

namespace xsens_imu {
    class XsensDriver;
    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
    
        xsens_imu::XsensDriver* m_driver;
        int timeout_counter;
        aggregator::TimestampEstimator* timestamp_estimator;

    public:
        Task(std::string const& name = "xsens_imu::Task");
        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif