#ifndef __rts_h
#define __rts_h

#include "Exec/utils.h"
#include "Exec/rt.h"
#include "Exec/param.h"
#include "Exec/singleReaderACM.h"

#include "mt_X4_Diags_T1_0.h"
#include "mt_X4_Diags_T1_1.h"
#include "mt_X4_Diags_T1_2.h"
#include "mt_X4_Diags_T1_3.h"
#include "mt_X4_Diags_T1_4.h"
#include "mt_X4_Diags_T1_5.h"
#include "mt_X4_Diags_T1_6.h"
#include "mt_X4_Diags_T1_7.h"

class orc_RT_X4_Diags_T1: public RobotTask 
{
    protected:
	 char cfgFile[MAXFILENAME]; 
	 //Robot task Output parameters
	 //Robot task Input parameters
     int SensorState;
     int MotorState;
	 // Module Tasks
	 orc_Mt_X4_Diags_T1_0 mt_X4_Diags_T1_0;
	 orc_Mt_X4_Diags_T1_1 mt_X4_Diags_T1_1;
	 orc_Mt_X4_Diags_T1_2 mt_X4_Diags_T1_2;
	 orc_Mt_X4_Diags_T1_3 mt_X4_Diags_T1_3;
	 orc_Mt_X4_Diags_T1_4 mt_X4_Diags_T1_4;
	 orc_Mt_X4_Diags_T1_5 mt_X4_Diags_T1_5;
	 orc_Mt_X4_Diags_T1_6 mt_X4_Diags_T1_6;
	 orc_Mt_X4_Diags_T1_7 mt_X4_Diags_T1_7;

	 // Links between Mt
	 SingleReaderACM<double> * sharedMemoryOnLink1;
	 SingleReaderACM<double> * sharedMemoryOnLink2;
	 SingleReaderACM<double> * sharedMemoryOnLink3;
	 SingleReaderACM<double> * sharedMemoryOnLink4;


    public: 
	 //Type 1 Exceptions
	 int aut_output_Sensor_FailE;
	 int aut_output_Motor_FailE;
	 int Sensor_FailE;
	 int Motor_FailE;
	 orc_RT_X4_Diags_T1(char* ,ProcedureRobot *, PhR *,char *);
	 ~orc_RT_X4_Diags_T1();
	 int SetParam(); 
	 int TestTimeout(); 
	 //	 int SetT1Exceptions(); 
	 int ReadLink_1(double *port);
	 int ReadLink_2(double *port);
	 int ReadLink_3(double *port);
	 int ReadLink_4(double *port);
	 void WriteLink_1(double *port);
	 void WriteLink_2(double *port);
	 void WriteLink_3(double *port);
	 void WriteLink_4(double *port);
	 void PutSensor_FailE(int);
	 void PutMotor_FailE(int);
	 int Get_SensorState();
	 void Put_SensorState(int);
	 int Get_MotorState();
	 void Put_MotorState(int);
};
#endif