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TaskBase::configureHook())\n+        return false;\n+\n+    DeviceSettings settings = _device_settings.get();\n+    DeviceSettings current_settings = driver->getCurrentSetting();\n+    if(_change_parameters.get())\n+    {\n+        //TODO need validation\n+        updateDeviceParameters(settings, current_settings);\n+    }\n+\n+    VersionNumbers device_info = driver->getFirmwareInformation();\n+    if(device_info.firmwareVersion.find(\"1.7\") == std::string::npos)\n+        RTT::log(RTT::Error) << \"Component was developed for firmware version \\\"1.7\\\" and actual version is: \\\"\"<< device_info.firmwareVersion <<\"\\\". Be aware of eventual incompatibility.\" << std::endl;\n+    RTT::log(RTT::Info) << \"USBL's firmware information: Firmware version: \\\"\"<< device_info.firmwareVersion <<\"\\\"; Physical and Data-Link layer protocol: \\\"\"<<\n+            device_info.accousticVersion <<\"\\\"; Manufacturer: \\\"\"<< device_info.manufacturer << \"\\\"\" << std::endl;\n+\n+    return true;\n+}\n+bool Task::startHook()\n+{\n+    if (! TaskBase::startHook())\n+        return false;\n+    return true;\n+}\n+void Task::updateHook()\n+{\n+    TaskBase::updateHook();\n+}\n+void Task::errorHook()\n+{\n+    TaskBase::errorHook();\n+}\n+void Task::stopHook()\n+{\n+    TaskBase::stopHook();\n+}\n+void Task::cleanupHook()\n+{\n+    TaskBase::cleanupHook();\n+}\n+void Task::processIO()\n+{\n+\n+    _device_settings.set(driver->getCurrentSetting());\n+\n+    _acoustic_channel.write(getAcousticChannelparameters());\n+\n+    AcousticConnection acoustic_connection = driver->getConnectionStatus();\n+    _acoustic_connection.write(acoustic_connection);\n+\n+    // TODO define exactly what to do for each acoustic_connection status\n+    if(acoustic_connection.status == ONLINE || acoustic_connection.status == OFFLINE_READY || acoustic_connection.status == INITIATION_LISTEN )\n+    {\n+        if(_message_input.read(send_IM) == RTT::NewData)\n+            driver->sendInstantMessage(send_IM);\n+\n+        iodrivers_base::RawPacket raw_data_input;\n+        if(_raw_data_input.read(raw_data_input) == RTT::NewData)\n+        {\n+            if(driver->getMode() == DATA)\n+                driver->sendRawData(raw_data_input.data);\n+            else\n+                RTT::log(RTT::Error) << \"Device can not send raw_data \\\"\"<< raw_data_input.data.data() << \"\\\" in COMMAND mode. Be sure to switch device to DATA mode\" << std::endl;\n+        }\n+    }\n+\n+    while(driver->hasNotification())\n+        processNotification(driver->getNotification());\n+\n+    while(driver->hasRawData())\n+    {\n+        iodrivers_base::RawPacket raw_packet_buffer;\n+        raw_packet_buffer.time = base::Time::now();\n+        raw_packet_buffer.data = driver->getRawData();\n+        _raw_data_output.write(raw_packet_buffer);\n+    }\n+\n+    if(acoustic_connection.status == OFFLINE_ALARM)","path":"tasks/Task.cpp","position":113,"original_position":113,"commit_id":"478d20fde51a0cb8b99a18738b96bb77ea6d2fe5","original_commit_id":"478d20fde51a0cb8b99a18738b96bb77ea6d2fe5","user":{"login":"joaobrittoneto","id":8523240,"avatar_url":"https://avatars.githubusercontent.com/u/8523240?v=3","gravatar_id":"","url":"https://api.github.com/users/joaobrittoneto","html_url":"https://github.com/joaobrittoneto","followers_url":"https://api.github.com/users/joaobrittoneto/followers","following_url":"https://api.github.com/users/joaobrittoneto/following{/other_user}","gists_url":"https://api.github.com/users/joaobrittoneto/gists{/gist_id}","starred_url":"https://api.github.com/users/joaobrittoneto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/joaobrittoneto/subscriptions","organizations_url":"https://api.github.com/users/joaobrittoneto/orgs","repos_url":"https://api.github.com/users/joaobrittoneto/repos","events_url":"https://api.github.com/users/joaobrittoneto/events{/privacy}","received_events_url":"https://api.github.com/users/joaobrittoneto/received_events","type":"User","site_admin":false},"body":"It appear when an internal error has occurred on device. 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