north_seeker.orogen

name "north_seeker"
# Optionally declare the version number
# version "0.1"
import_types_from "base"

# using_library "north_seeker"
# import_types_from "north_seeker/CustomType.hpp"

# If this project uses data types that are defined in other oroGen projects,
# these projects should be imported there as well.
# import_types_from "base"

# Declare a new task context (i.e., a component)
#
# The corresponding C++ class can be edited in tasks/Task.hpp and
# tasks/Task.cpp, and will be put in the north_seeker namespace.
task_context "Task" do
    # This is the default from now on, and should not be removed. Rock will
    # transition to a setup where all components use a configuration step.
    needs_configuration

    # A configuration property (here, a std::string). Its value can be retrieved
    # in the C++ code with # _config_value.get() and _config_value.set(new_value).
    property "sampling_period", "int" #time to sample in seconds

    # An input port, i.e. an object from which the component gets data from
    # other components' outputs
    #
    # Data can be retrieved using _input.read(value), which returns true if data
    # was available, and false otherwise. _input.connected() returns if this
    # input is connected to an output or not.
    input_port "imusamples", "base/samples/IMUSensors"

    # An output port, i.e. an object to which the component pushes data so that
    # it is transmitted to other components' inputs
    #
    # Data can be written using _output.write(value). _output.connected() returns
    # if this output is connected to an input or not.
    output_port "heading", "double" #heading in rad

    # If you want that component's updateHook() to be executed when the "input"
    # port gets data, uncomment this and comment the 'periodic' line
    port_driven "imusamples"
    # By default, the task will be periodic with a period of 0.1
end