ArRecurrentTask.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
*/

// ArRecurrentTask.h -- Recurrent async task interface class
#ifndef ARRECURASYNCTASK_H
#define ARRECURASYNCTASK_H


#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ArThread.h"
#include "ArASyncTask.h"


class ArRecurrentTask : public ArASyncTask
{
public:
  AREXPORT ArRecurrentTask();
  AREXPORT ~ArRecurrentTask();  

  virtual void task() = 0;
  AREXPORT void go();       

  AREXPORT int  done(); 
  AREXPORT void reset();    // stops the current thread and restarts it
  AREXPORT void kill();         // kills the current thread

  AREXPORT void *runThread(void *ptr); // main task loop

private:
  bool running;         // true if currently running
  bool go_req;          // run request
  bool killed;          // did we get killed by request?
};


#endif // ARRECURASYNCTASK_H

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