/**
 * Provider of a Message with command-like semantics
 */
class TaskA    : public TaskContext
{
    Message<void(double)>   message;
    Method<bool(double)>    message_is_done;
    Event<void(double)>     done_event;
 
    void mesg(double arg1) {
        return;
    }
 
    bool is_done(double arg1) {
        return true;
    }
 
public:
 
    TaskA(std::string name)
        : TaskContext(name),
          message("Message",&TaskA::mesg, this),
          message_is_done("MessageIsDone",&TaskA::is_done, this),
          done_event("DoneEvent")
    {
        this->provides()->addMessage(&message, "The Message", "arg1", "Argument 1");
        this->provides()->addMethod(&method, "Is the Message done?", "arg1", "Argument 1");
        this->provides()->addEvent(&done_event, "Emited when the Message is done.", "arg1", "Argument 1");
    }
 
};
 
class TaskB   : public TaskContext
{
    // RTT 1.0 style command object
    Command<bool(double)>   command1;
    Command<bool(double)>   command2;
 
public:
 
    TaskB(std::string name)
        : TaskContext(name),
          command1("command1"),
          command2("command2")
    {
        // the commands are now created client side, you
        // can not add them to your 'provides' interface
        command1.useMessage("Message");
        command1.useCondition("MessageIsDone");
        command2.useMessage("Message");
        command2.useEvent("DoneEvent");
 
        // this allows automatic setup of the command.
        this->requires()->addCommand( &command1 );
        this->requires()->addCommand( &command2 );
    }
 
    bool configureHook() {
        // setup is done during deployment.
        return command1.ready() && command2.ready();
    }
 
    void updateHook() {
        // calls TaskA:
        if ( command1.ready() && command2.ready() )
            command1( 4.0 );
        if ( command1.done() && command2.ready() )
            command2( 1.0 );
    }
};
 
int ORO_main( int, char** )
{
    // Create your tasks
    TaskA ta("Provider");
    TaskB tb("Subscriber");
 
    connectPeers(ta, tb);
    // connects interfaces.
    connectInterfaces(ta, tb);
    return 0;
}