128 lines
4.5 KiB
C++
128 lines
4.5 KiB
C++
/*
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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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#include "Aria.h"
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class UserTaskTest
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{
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public:
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UserTaskTest(void) {};
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~UserTaskTest(void) {};
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void userTaskOne(void) { printf("One\n"); }
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void userTaskTwo(void) { printf("Two\n"); }
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void userTaskThree(void) { printf("Three\n"); }
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void userTaskFour(void) { printf("Four\n"); }
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ArTaskState::State myTaskFourState;
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};
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int main()
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{
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ArSyncTask *task;
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UserTaskTest test;
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ArRobot robot;
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ArFunctorC<UserTaskTest> userTaskOne(&test, &UserTaskTest::userTaskOne);
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ArFunctorC<UserTaskTest> userTaskTwo(&test, &UserTaskTest::userTaskTwo);
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ArFunctorC<UserTaskTest> userTaskThree(&test, &UserTaskTest::userTaskThree);
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ArFunctorC<UserTaskTest> userTaskFour(&test, &UserTaskTest::userTaskFour);
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printf("Before tasks added:\n");
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robot.logUserTasks();
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printf("---------------------------------------------------------------\n");
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// the order you add tasks doesn't matter, it goes off of the integer
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// you give the function call to add them
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// Caveat: if you give the function call the same number it goes off of order
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robot.addUserTask("procTwo", 20, &userTaskTwo);
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robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
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robot.addUserTask("procThree", 30, &userTaskThree);
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robot.addUserTask("procOne", 10, &userTaskOne);
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printf("After tasks added:\n");
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robot.logUserTasks();
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printf("---------------------------------------------------------------\n");
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printf("What happens when these are run:\n");
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robot.loopOnce();
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printf("---------------------------------------------------------------\n");
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printf("After tasks removed by name:\n");
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printf("---------------------------------------------------------------\n");
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robot.remUserTask("procOne");
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robot.remUserTask("procTwo");
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robot.remUserTask("procThree");
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robot.remUserTask("procFour");
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robot.logUserTasks();
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printf("\nAfter they are added again, procThree is found by name and set to SUSPEND and procFour is found by functor and set to FAILURE:\n");
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printf("---------------------------------------------------------------\n");
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printf("---------------------------------------------------------------\n");
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robot.addUserTask("procTwo", 20, &userTaskTwo);
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robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
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robot.addUserTask("procThree", 30, &userTaskThree);
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robot.addUserTask("procOne", 10, &userTaskOne);
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task = robot.findUserTask("procThree");
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if (task != NULL)
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task->setState(ArTaskState::SUSPEND);
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task = robot.findUserTask(&userTaskFour);
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if (task != NULL)
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task->setState(ArTaskState::FAILURE);
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robot.logUserTasks();
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task = robot.findUserTask(&userTaskFour);
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if (task != NULL)
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{
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printf("---------------------------------------------------------------\n");
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printf("Did the real state on procFourState get set:\n");
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printf("getState: %d realState: %d\n", task->getState(),
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test.myTaskFourState);
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}
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printf("---------------------------------------------------------------\n");
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printf("What happens when these are run:\n");
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robot.loopOnce();
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printf("---------------------------------------------------------------\n");
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printf("After tasks removed by functor:\n");
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printf("---------------------------------------------------------------\n");
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robot.remUserTask(&userTaskOne);
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robot.remUserTask(&userTaskTwo);
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robot.remUserTask(&userTaskThree);
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robot.remUserTask(&userTaskFour);
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robot.logUserTasks();
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}
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