name "sim_quest3d"
# Optionally declare the version number
# version "0.1"

using_library "sim_quest3d"
using_task_library "iodrivers_base"

import_types_from "base"
import_types_from "thruster_enitech/ThrusterTypes.hpp"



task_context "Task" do
    doc 'component for exchanging data between ROCK and the HROVSIM'
    needs_configuration

    input_port('thruster_commandT1', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 1, which is either freq or current'

    input_port('thruster_commandT2', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 2, which is either freq or current'

    input_port('thruster_commandT3', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 3, which is either freq or current'

    input_port('thruster_commandT4', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 4, which is either freq or current'

    input_port('thruster_commandT5', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 5, which is either freq or current'

    input_port('thruster_commandT6', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 6, which is either freq or current'

    input_port('thruster_commandT7', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 7, which is either freq or current'

    input_port('thruster_commandT8', 'thruster_enitech/ThrusterCommand').
        doc 'thruster command for Thruster 8, which is either freq or current'


    #output_port "output", "int"

    periodic 0.05
end