ArRecurrentTask Class Reference

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

#include <ArRecurrentTask.h>

Inheritance diagram for ArRecurrentTask:

List of all members.

Public Member Functions
	ArRecurrentTask ()
	Constructor.
int	done ()
	Check if the task is running or not.
void	go ()
	Starts up on cycle of the recurrent task.
void	kill ()
void	reset ()
	Cancel the task and reset for the next cycle.
void *	runThread (void *ptr)
	The main run loop.
virtual void	task ()=0
	The main run loop.
	~ArRecurrentTask ()
	Descructor.

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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

Definition at line 56 of file ArRecurrentTask.h.

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Member Function Documentation

int ArRecurrentTask::done (   )

Check if the task is running or not. 0 = running, 1 = finished normally, 2 = canceled Definition at line 117 of file ArRecurrentTask.cpp. References ArThread::lock(), and ArThread::unlock().

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. Implements ArASyncTask. Definition at line 69 of file ArRecurrentTask.cpp. References ArThread::lock(), task(), ArThread::threadStarted(), and ArThread::unlock().

virtual void ArRecurrentTask::task (   )  [pure virtual]

The main run loop. Override this function and put your task here. Referenced by runThread().

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The documentation for this class was generated from the following files:

• ArRecurrentTask.h
• ArRecurrentTask.cpp

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