77 lines
3.1 KiB
C++
77 lines
3.1 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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#ifndef ARRANGEDEVICETHREADED_H
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#define ARRANGEDEVICETHREADED_H
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#include "ariaTypedefs.h"
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#include "ArRangeDevice.h"
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#include "ArFunctorASyncTask.h"
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/// A range device which can run in its own thread
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/**
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This is a range device thats threaded, it doesn't do
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multipleInheritance from both ArASyncTask and ArRangeDevice any
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more since JAVA doesn't support this and the wrapper software
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can't deal with it. Its still functionally the same however.
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**/
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class ArRangeDeviceThreaded : public ArRangeDevice
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{
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public:
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/// Constructor
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AREXPORT ArRangeDeviceThreaded(size_t currentBufferSize,
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size_t cumulativeBufferSize,
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const char *name, unsigned int maxRange,
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int maxSecondsTokeepCurrent = 0,
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int maxSecondsToKeepCumulative = 0,
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double maxDistToKeepCumulative = 0,
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bool locationDependent = false);
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/// Destructor
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AREXPORT virtual ~ArRangeDeviceThreaded();
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/// The functor you need to implement that will be the one executed by the thread
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AREXPORT virtual void * runThread(void *arg) = 0;
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/// Run in this thread
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AREXPORT virtual void run(void) { myTask.run(); }
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/// Run in its own thread
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AREXPORT virtual void runAsync(void) { myTask.runAsync(); }
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/// Stop the thread
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AREXPORT virtual void stopRunning(void) { myTask.stopRunning(); }
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/// Get the running status of the thread
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AREXPORT virtual bool getRunning(void) { return myTask.getRunning();}
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/// Get the running status of the thread, locking around the variable
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AREXPORT virtual bool getRunningWithLock(void)
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{ return myTask.getRunningWithLock(); }
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AREXPORT virtual int lockDevice(void) { return myTask.lock(); }
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AREXPORT virtual int tryLockDevice(void) { return myTask.tryLock(); }
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AREXPORT virtual int unlockDevice(void) { return myTask.unlock(); }
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protected:
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ArRetFunctor1C<void *, ArRangeDeviceThreaded, void *> myRunThreadCB;
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ArFunctorASyncTask myTask;
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};
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#endif // ARRANGEDEVICETHREADED_H
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