MainControlLoop.h

/*
* This is a template for the MOTORCORTEX Module header file
*/
 
#ifndef MAINCONTROLLOPP_H
#define MAINCONTROLLOPP_H
 
#include "ct_module.h"
 
class MainControlLoop : public mcx::container::Module {
public:
 
  MainControlLoop() = default;
 
  ~MainControlLoop() override = default;
 
private:
  void create_(const char* name, mcx::parameter_server::Parameter* parameter_server, uint64_t dt_micro_s) override;
 
  bool initPhase1_() override;
 
  bool initPhase2_() override;
 
  bool startOp_() override;
 
  bool stopOp_() override;
 
  bool iterateOp_(const mcx::container::TaskTime& system_time, mcx::container::UserTime* user_time) override;
};
 
#endif /* MAINCONTROLLOPP_H */