ERC CISST - cisst software

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mtsTaskContinuous Class Reference
[Multi Task Support]

#include <mtsTaskContinuous.h>

Inheritance diagram for mtsTaskContinuous:

[legend]Collaboration diagram for mtsTaskContinuous:

[legend]List of all members.

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Detailed Description

This class inherits from mtsTask and provides the base for implementing continuous loops, where the user-supplied Run method is repeatedly invoked. It also introduces the possibility to create a new thread or to use an existing thread for the task.

Definition at line 44 of file mtsTaskContinuous.h.

Public Types

• typedef mtsTask BaseType

Public Member Functions

• mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)
• virtual ~mtsTaskContinuous ()
• void Create (void *data=0)
• void Start (void)
• void Suspend (void)
• void Kill (void)

Protected Member Functions

• virtual void * RunInternal (void *argument)
• void StartInternal (void)

Protected Attributes

• bool NewThread
• bool CaptureThread

Friends

• class mtsTaskManager

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Constructor & Destructor Documentation

mtsTaskContinuous::mtsTaskContinuous	(	const std::string &	name,
		unsigned int	sizeStateTable = 256,
		bool	newThread = true
	)

Create a task with name 'name' that has a state table of the specified size.

Parameters:

	name	The name of the task
	sizeStateTable	The history size of the state table
	newThread	True if a new thread should be created for this task

Note:

See note in mtsTask regarding length of string name.

If newThread is false, the task will not create a new thread, but will rather "capture" an existing thread. This is done as follows:

1) Call mtsTaskContinuous::Create from the thread to be captured. The class will get the thread id for the current thread and use it to initialize all interfaces in mtsTask::StartupInternal. Once this is done, Create returns to the calling thread.

2) Call mtsTaskContinuous::Start from the thread to be captured. This function captures the thread, and uses it to call the mtsTask::Run method. It does not return until the task is terminated.

Other tasks can use mtsTask::Suspend and mtsTask::Start to suspend and resume this task, or mtsTask::Kill to terminate it. In other words, once started the task should behave the same regardless of whether or not a new thread was created.

Note that mtsTaskFromCallback provides another mechanism for using an existing thread. In that case, the task does not capture the thread, but just registers itself as a callback.

See also:

mtsTask, mtsTaskPeriodic, mtsTaskFromCallback

virtual mtsTaskContinuous::~mtsTaskContinuous

(

)

[virtual]

Default Destructor.

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Member Function Documentation

virtual void* mtsTaskContinuous::RunInternal

(

void *

argument

)

[protected, virtual]

The member function that is passed as 'start routine' argument for thread creation.

Implements mtsTask.

void mtsTaskContinuous::StartInternal

(

void

)

[protected]

Called from Start

void mtsTaskContinuous::Start

(

void

)

[virtual]

Start/resume execution of the task

Implements mtsTask.

void mtsTaskContinuous::Suspend

(

void

)

[virtual]

Suspend the execution of the task

Implements mtsTask.

void mtsTaskContinuous::Kill

(

void

)

[virtual]

End the task

Reimplemented from mtsTask.

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Member Data Documentation

bool mtsTaskContinuous::NewThread [protected]

True if a new thread should be created for this task.

Definition at line 57 of file mtsTaskContinuous.h.

bool mtsTaskContinuous::CaptureThread [protected]

If a new thread is not created, we need to capture the current thread on the first call to Start.

Definition at line 61 of file mtsTaskContinuous.h.

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

• mtsTaskContinuous.h

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