Plugin.hpp

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

#ifndef SIMULATION_MARSPLUGIN_TASK_HPP
#define SIMULATION_MARSPLUGIN_TASK_HPP

#include <mars/PluginBase.hpp>
#include "Task.hpp"
#include <mars/interfaces/sim/SimulatorInterface.h>
#include <mars/data_broker/ReceiverInterface.h>

namespace mars {

    class Plugin : public PluginBase, public mars::interfaces::PluginInterface, public mars::data_broker::ReceiverInterface
    {
        friend class PluginBase;
    protected:
        mars::interfaces::SimulatorInterface *sim;

    public:
        Plugin(std::string const& name = "mars::Plugin");

        Plugin(std::string const& name, RTT::ExecutionEngine* engine);

        ~Plugin();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

        base::Time getTime();

        bool connect();
        void disconnect();
        virtual void reset();
        virtual void receiveData(const mars::data_broker::DataInfo& info,const mars::data_broker::DataPackage& package,int id);
        virtual void handleMarsShudown();
        virtual void init();
        virtual void update(double delta_t);
    };
};

#endif