ArRecurrentTask Class Referenceabstract
Recurrent task (runs in its own thread) More...
#include <ArRecurrentTask.h>
Inherits ArASyncTask.
Public Member Functions | |
| ArRecurrentTask () | |
| Constructor. | |
| int | done () |
| Check if the task is running or not. More... | |
| 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) |
| virtual void | task ()=0 |
| The main run loop. More... | |
| ~ArRecurrentTask () | |
| Descructor. | |
 Public Member Functions inherited from ArASyncTask | |
| ArASyncTask () | |
| Constructor. | |
| virtual int | create (bool joinable=true, bool lowerPriority=true) |
| Create the task and start it going. | |
| virtual const char * | getThreadActivity (void) |
| Gets a string that describes what the thread is doing, or NULL if it doesn't know. More... | |
| virtual void | run (void) |
| Run without creating a new thread. More... | |
| virtual void | runAsync (void) |
| Run in its own thread. | |
| virtual void * | runInThisThread (void *arg=0) |
| Internal function used with system threading system to run the new thread. More... | |
| virtual void | stopRunning (void) |
| Stop the thread. | |
| virtual | ~ArASyncTask () |
| Destructor. | |
| Public Member Functions inherited from ArThread | |
| ArThread (bool blockAllSignals=true) | |
| Constructor. | |
| ArThread (ThreadType thread, bool joinable, bool blockAllSignals=true) | |
| Constructor - starts the thread. | |
| ArThread (ArFunctor *func, bool joinable=true, bool blockAllSignals=true) | |
| Constructor - starts the thread. | |
| virtual void | cancel (void) |
| Cancel the thread. | |
| virtual int | detach (void) |
| Detatch the thread so it cant be joined. | |
| bool | getBlockAllSignals (void) |
| Do we block all process signals at startup? | |
| virtual ArFunctor * | getFunc (void) const |
| Get the functor that the thread runs. | |
| virtual bool | getJoinable (void) const |
| Get the joinable status of the thread. | |
| virtual ThreadType | getOSThread (void) const |
| Get the underlying os thread type. | |
| pid_t | getPID (void) |
| virtual bool | getRunning (void) const |
| Get the running status of the thread. | |
| virtual bool | getRunningWithLock (void) |
| Get the running status of the thread, locking around the variable. | |
| virtual const ThreadType * | getThread (void) const |
| Get the underlying thread type. | |
| virtual const char * | getThreadName (void) |
| Gets the name of the thread. | |
| pid_t | getTID (void) |
| virtual bool | isThreadFinished () const |
| Returns whether the thread has been completed and can be deleted. More... | |
| virtual bool | isThreadStarted () const |
| Returns whether the thread has been started. More... | |
| virtual int | join (void **ret=NULL) |
| Join on the thread. | |
| int | lock (void) |
| Lock the thread instance. More... | |
| virtual void | logThreadInfo (void) |
| Logs the information about this thread. | |
| virtual void | setRunning (bool running) |
| Set the running value on the thread. | |
| virtual void | setThreadName (const char *name) |
| Sets the name of the thread. | |
| virtual void | threadFinished (void) |
| Marks the thread as finished and logs useful debugging information. More... | |
| virtual void | threadStarted (void) |
| Marks the thread as started and logs useful debugging information. More... | |
| int | tryLock (void) |
| Try to lock the thread instance without blocking. More... | |
| int | unlock (void) |
| Unlock the thread instance. More... | |
| virtual | ~ArThread () |
| Destructor. | |
Additional Inherited Members | |
| Public Types inherited from ArThread | |
| typedef std::map< ThreadType, ArThread * > | MapType |
| enum | Status { STATUS_FAILED =1, STATUS_NORESOURCE, STATUS_NO_SUCH_THREAD, STATUS_INVALID, STATUS_JOIN_SELF, STATUS_ALREADY_DETATCHED } |
| typedef pthread_t | ThreadType |
| Static Public Member Functions inherited from ArThread | |
| static void | cancelAll (void) |
| Cancel all threads. | |
| static ArLog::LogLevel | getLogLevel (void) |
| Gets the logging level for thread information. | |
| static ThreadType | getThisOSThread (void) |
| Get the underlying os thread type of this thread. | |
| static const ThreadType * | getThisThread (void) |
| Get the underlying thread type of this thread. | |
| static const char * | getThisThreadName (void) |
| Gets the name of the this thread. | |
| static void | init (void) |
| Initialize the internal book keeping structures. More... | |
| static void | joinAll (void) |
| Join on all threads. | |
| static ThreadType | osSelf (void) |
| Returns the os self of the current thread. More... | |
| static ArThread * | self (void) |
| Returns the instance of your own thread (the current one) More... | |
| static void | setLogLevel (ArLog::LogLevel level) |
| Sets the logging level for thread information. | |
| static void | shutdown () |
| Shuts down and deletes the last remaining thread; call after joinAll. | |
| static void | stopAll () |
| Stop all threads. | |
| static void | yieldProcessor (void) |
| Yield the processor to another thread. | |
| Protected Member Functions inherited from ArThread | |
| virtual int | doJoin (void **ret=NULL) |
| Static Protected Member Functions inherited from ArThread | |
| static void | addThreadToMap (ThreadType pt, ArThread *at) |
| static ArThread * | findThreadInMap (ThreadType t) |
| static void | removeThreadFromMap (ThreadType t) |
| Protected Attributes inherited from ArThread | |
| bool | myBlockAllSignals |
| bool | myFinished |
| ArFunctor * | myFunc |
| bool | myJoinable |
| ArMutex | myMutex |
| std::string | myName |
| pid_t | myPID |
| bool | myRunning |
| State variable to denote when the thread should continue or exit. | |
| bool | myStarted |
| ArStrMap | myStrMap |
| ThreadType | myThread |
| pid_t | myTID |
| Static Protected Attributes inherited from ArThread | |
| static ArLog::LogLevel | ourLogLevel = ArLog::Verbose |
| static MapType | ourThreads |
| static ArMutex | ourThreadsMutex |
| static std::string | ourUnknownThreadName = "unknown" |
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
◆ done()
| int ArRecurrentTask::done | ( | ) |
Check if the task is running or not.
0 = running, 1 = finished normally, 2 = canceled
◆ 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:
- ArRecurrentTask.h
- ArRecurrentTask.cpp
