/**
 * Provider of Event
 */
class TaskA    : public TaskContext
{
    Event<void(string)>   event;
 
public:
 
    TaskA(std::string name)
        : TaskContext(name),
          event("Event")
    {
        this->provides()->addEvent(&event, "The Event", "arg1", "Argument 1");
        // OR:
        this->provides("FooInterface")->addEvent(&event, "The Event", "arg1", "Argument 1");
 
        // If you want the user to let him emit the event:
        this->provides()->addMethod(&event, "Emit The Event", "arg1", "Argument 1");
    }
 
    void updateHook() {
        event("hello world");
    }
};
 
/**
 * Subscribes a local Method and a Message to Event
 */
class TaskB   : public TaskContext
{
    Message<void(string)>   message;
    Method<void(string)>    method;
 
    // Message callback
    void mesg(double arg1) {
        return;
    }
 
    // Method callback
    int meth(double arg1) {
        return 0;
    }
 
public:
 
    TaskB(std::string name)
        : TaskContext(name),
          message("Message",&TaskB::mesg, this),
          method("Method",&TaskB::meth, this)
    {
        // optional:
        // this->provides()->addMessage(&message, "The Message", "arg1", "Argument 1");
        // this->provides()->addMethod(&method, "The Method", "arg1", "Argument 1");
 
        // subscribe to event:
        this->requires()->addCallback("Event", &message);
        this->requires()->addCallback("Event", &method);
 
        // OR:
        // this->provides("FooInterface")->addMessage(&message, "The Message", "arg1", "Argument 1");
        // this->provides("FooInterface")->addMethod(&method, "The Method", "arg1", "Argument 1");
 
        // subscribe to event:
        this->requires("FooInterface")->addCallback("Event", &message);
        this->requires("FooInterface")->addCallback("Event", &method);
    }
 
    bool configureHook() {
        // setup is done during deployment.
        return message.ready() && method.ready();
    }
 
    void updateHook() {
        // we only receive
    }
};
 
int ORO_main( int, char** )
{
    // Create your tasks
    TaskA ta("Provider");
    TaskB tb("Subscriber");
 
    connectPeers(ta, tb);
    // connects interfaces.
    connectInterfaces(ta, tb);
    return 0;
}