88 lines
3.2 KiB
C
88 lines
3.2 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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// ArRecurrentTask.h -- Recurrent async task interface class
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#ifndef ARRECURASYNCTASK_H
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#define ARRECURASYNCTASK_H
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#include "ariaTypedefs.h"
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#include "ArFunctor.h"
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#include "ArThread.h"
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#include "ArASyncTask.h"
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/// Recurrent task (runs in its own thread)
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/**
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The ArRecurrentTask is a task that runs in its own thread. Recurrent
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tasks are asynchronous tasks that complete in a finite amount of time,
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and need to be reinvoked recurrently. A typical example is Saphira's
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localization task: it runs for a few hundred milliseconds, localizes the
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robot, and returns. Then the cycle starts over.
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The user simply needs to derive their own class
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from ArRecurrentTask and define the task() function. This is the user
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code that will be called to execute the task body.
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Then, create an object of the class, and call the go() function to
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start the task. The status of the task can be checked with the
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done() function, which returns 0 if running, 1 if completed, and 2 if
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killed.
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go() can be called whenever the task is done to restart it. To stop the
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task in midstream, call reset().
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kill() kills off the thread, shouldn't be used unless exiting the
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async task permanently
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*/
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class ArRecurrentTask : public ArASyncTask
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{
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public:
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/// Constructor
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AREXPORT ArRecurrentTask();
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/// Descructor
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AREXPORT ~ArRecurrentTask();
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/// The main run loop
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/**
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Override this function and put your task here.
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*/
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virtual void task() = 0;
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/// Starts up on cycle of the recurrent task
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AREXPORT void go();
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/// Check if the task is running or not
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/**
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0 = running, 1 = finished normally, 2 = canceled
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*/
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AREXPORT int done();
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/// Cancel the task and reset for the next cycle
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AREXPORT void reset(); // stops the current thread and restarts it
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AREXPORT void kill(); // kills the current thread
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AREXPORT void *runThread(void *ptr); // main task loop
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private:
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bool running; // true if currently running
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bool go_req; // run request
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bool killed; // did we get killed by request?
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};
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#endif // ARRECURASYNCTASK_H
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