mtsWAM.h

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/*
  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _mtsWAM_h
#define _mtsWAM_h

#include <cisstMultiTask/mtsTaskContinuous.h>
#include <cisstMultiTask/mtsInterfaceProvided.h>

#include <cisstOSAbstraction/osaCPUAffinity.h>

#include <cisstParameterTypes/prmPositionJointGet.h>
#include <cisstParameterTypes/prmForceTorqueJointSet.h>

#include <sawBarrett/osaWAM.h>
#include <sawBarrett/sawBarrettExport.h>


class CISST_EXPORT mtsWAM : 
  public mtsTaskContinuous,
  public osaWAM {

 private:

  prmPositionJointGet    qout;
  prmForceTorqueJointSet tin;

  mtsInterfaceProvided* input;
  mtsInterfaceProvided* output;
  mtsInterfaceProvided* ctl;

  osaCPUMask cpumask;
  int priority;

 public:

  mtsWAM( const std::string& name,
      osaCANBus* canbus, 
      osaWAM::Configuration configuration = WAM_7DOF,
      osaCPUMask cpumask = OSA_CPUANY,
      int priority = 80 );

  void Configure( const std::string& CMN_UNUSED(argv) = "" )
  { osaWAM::Initialize(); }

  void Startup();
  void Run();
  void Cleanup(){}

};

#endif