ArRangeDeviceThreaded.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARRANGEDEVICETHREADED_H
#define ARRANGEDEVICETHREADED_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctorASyncTask.h"


class ArRangeDeviceThreaded : public ArRangeDevice
{
public:
  AREXPORT ArRangeDeviceThreaded(size_t currentBufferSize, 
                 size_t cumulativeBufferSize,
                 const char *name, unsigned int maxRange);
  AREXPORT virtual ~ArRangeDeviceThreaded();
  AREXPORT virtual void * runThread(void *arg) = 0;
  AREXPORT virtual void run(void) { myTask.run(); }
  AREXPORT virtual void runAsync(void) { myTask.runAsync(); }
  AREXPORT virtual void stopRunning(void) { myTask.stopRunning(); }
  AREXPORT virtual bool getRunning(void) { return myTask.getRunning();}
  AREXPORT virtual bool getRunningWithLock(void) 
    { return myTask.getRunningWithLock(); }

  AREXPORT virtual int lockDevice(void) { return myTask.lock(); }
  AREXPORT virtual int tryLockDevice(void) { return myTask.tryLock(); }
  AREXPORT virtual int unlockDevice(void) { return myTask.unlock(); }
protected:
  ArRetFunctor1C<void *, ArRangeDeviceThreaded, void *> myRunThreadCB;
  ArFunctorASyncTask myTask;

};

#endif // ARRANGEDEVICETHREADED_H

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