110 lines
3.9 KiB
C++
110 lines
3.9 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 ARASYNCTASK_H
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#define ARASYNCTASK_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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/// Asynchronous task (runs in its own thread)
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/**
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The ArAsynTask is a task that runs in its own thread. This is a
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rather simple class. The user simply needs to derive their own
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class from ArAsyncTask and define the runThread() function. They
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then need to create an instance of their task and call run or
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runAsync. The standard way to stop a task is to call stopRunning()
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which sets ArThread::myRunning to false. In their run loop, they
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should pay attention to the getRunning() or the ArThread::myRunning
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variable. If this value goes to false, the task should clean up
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after itself and exit its runThread() function.
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@ingroup UtilityClasses
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**/
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class ArASyncTask : public ArThread
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{
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public:
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/// Constructor
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AREXPORT ArASyncTask();
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/// Destructor
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AREXPORT virtual ~ArASyncTask();
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/// The main run loop
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/**
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Override this function and put your taskes run loop here. Check the
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value of getRunning() periodicly in your loop. If the value
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is false, the loop should exit and runThread() should return.
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The argument and return value are specific to the platform thread implementation, and
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can be ignored.
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@swignote In the wrapper libraries, this method takes no arguments and has no return value.
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*/
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AREXPORT virtual void * runThread(void *arg) = 0;
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/// Run without creating a new thread
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/**
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This will run the the ArASyncTask without creating a new
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thread to run it in. It performs the needed setup then calls runThread()
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directly instead of letting the system threading system do it in a new thread.
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*/
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virtual void run(void) { runInThisThread(); }
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/// Run in its own thread
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virtual void runAsync(void) { create(); }
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// reimplemented here just so its easier to see in the docs
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/// Stop the thread
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virtual void stopRunning(void) {myRunning=false;}
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/// Create the task and start it going
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AREXPORT virtual int create(bool joinable=true, bool lowerPriority=true);
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/** Internal function used with system threading system to run the new thread.
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In general, use run() or runAsync() instead.
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@internal
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*/
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AREXPORT virtual void * runInThisThread(void *arg=0);
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/// Gets a string that describes what the thread is doing, or NULL if it
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/// doesn't know. Override this in your subclass to return a status
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/// string. This can be used for debugging or UI display.
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virtual const char *getThreadActivity(void) { return NULL; }
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private:
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// Hide regular Thread::Create
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virtual int create(ArFunctor * /*func*/, bool /*joinable=true*/,
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bool /*lowerPriority=true*/) {return(false);}
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ArRetFunctor1C<void*, ArASyncTask, void*> myFunc;
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};
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#endif // ARASYNCTASK_H
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