Main Page   Class Hierarchy   Compound List   Compound Members  

ArRecurrentTask Class Reference

Recurrent task (runs in its own thread). More...

#include <ArRecurrentTask.h>

Inheritance diagram for ArRecurrentTask::

ArASyncTask ArThread List of all members.

Public Methods

 ArRecurrentTask ()
 Constructor.

 ~ArRecurrentTask ()
 Descructor.

virtual void task ()=0
 The main run loop. More...

void go ()
 Starts up on cycle of the recurrent task.

int done ()
 Check if the task is running or not. More...

void reset ()
 Cancel the task and reset for the next cycle.

void * runThread (void *ptr)
 The main run loop. More...


Detailed Description

Recurrent task (runs in its own thread).

The ArRecurrentTask is a task that runs in its own thread. Recurrent tasks are asynchronous tasks that complete in a finite amount of time, and need to be reinvoked recurrently. A typical example is Saphira's localization task: it runs for a few hundred milliseconds, localizes the robot, and returns. Then the cycle starts over. The user simply needs to derive their own class from ArRecurrentTask and define the task() function. This is the user code that will be called to execute the task body. Then, create an object of the class, and call the go() function to start the task. The status of the task can be checked with the done() function, which returns 0 if running, 1 if completed, and 2 if killed. go() can be called whenever the task is done to restart it. To stop the task in midstream, call reset(). kill() kills off the thread, shouldn't be used unless exiting the async task permanently


Member Function Documentation

int ArRecurrentTask::done  
 

Check if the task is running or not.

0 = running, 1 = finished normally, 2 = canceled

void * ArRecurrentTask::runThread void *    ptr [virtual]
 

The main run loop.

Override this function and put your taskes run loop here. Check the value of getRunning() or myRunning periodicly in your loop. If the value goes false, the loop should exit and runThread() should return.

Reimplemented from ArASyncTask.

virtual void ArRecurrentTask::task   [pure virtual]
 

The main run loop.

Override this function and put your task here.


The documentation for this class was generated from the following files:
Generated on Tue Nov 12 17:44:01 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001