ArSyncTask Class Reference

#include <ArSyncTask.h>

List of all members.

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Detailed Description

Class used internally to manage the tasks that are called every cycle.

This is used internally, no user should normally have to create one, but serious developers may want to use the members. Most users will be able to add user tasks via the ArRobot class.

The way it works is that each instance is a node in a tree. The only node that should ever be created with a new is the top one. The run and print functions both call the run/print on themselves, then on all of their children, going from lowest numbered position to highest numbered, lower going first. There are no hard limits to the position, it can be any integer. ARIA uses the convention of 0 to 100, when you add things of your own you should leave room to add in between. Also you can add things with the same position, the only effect this has is that the first addition will show up first in the run or print.

After the top one is created, every other task should be created with either addNewBranch() or addNewLeaf(). Each node can either be a branch node or a list node. The list (a multimap) of branches/nodes is ordered by the position passed in to the add function. addNewBranch() adds a new branch node to the instance it is called on, with the given name and position. addNewLeaf() adds a new leaf node to the instance it is called on, with the given name and position, and also with the ArFunctor given, this functor will be called when the leaf is run. Either add creates the new instance and puts it in the list of branches/nodes in the approriate spot.

The tree takes care of all of its own memory management and list management, the "add" functions put into the list and creates the memory, conversely if you delete an ArSyncTask (which is the correct way to get rid of one) it will remove itself from its parents list.

If you want to add something to the tree the proper way to do it is to get the pointer to the root of the tree (ie with ArRobot::getSyncProcRoot) and then to use find on the root to find the branch you want to travel down, then continue this until you find the node you want to add to. Once there just call addNewBranch or addNewLeaf and you're done.

The state of a task can be stored in the target of a given ArTaskState::State pointer, or if NULL than ArSyncTask will use its own member variable.

Public Member Functions
void	addNewBranch (const char *nameOfNew, int position, ArTaskState::State *state=NULL)
	Adds a new branch to this instance.
void	addNewLeaf (const char *nameOfNew, int position, ArFunctor *functor, ArTaskState::State *state=NULL)
	Adds a new leaf to this instance.
	ArSyncTask (const char *name, ArFunctor *functor=NULL, ArTaskState::State *state=NULL, ArSyncTask *parent=NULL)
	Constructor, shouldn't ever do a new on anything besides the root node.
ArSyncTask *	find (ArFunctor *functor)
	Finds the task recursively down the tree by functor.
ArSyncTask *	find (const char *name)
	Finds the task recursively down the tree by name.
ArSyncTask *	findNonRecursive (ArFunctor *functor)
	Finds the task in the instances list of children, by functor.
ArSyncTask *	findNonRecursive (const char *name)
	Finds the task in the instances list of children, by name.
ArFunctor *	getFunctor (void)
	Gets the functor this instance runs, if there is one.
std::string	getName (void)
	Gets the name of this task.
ArRetFunctor< bool > *	getNoTimeWarningCB (void)
	Gets the functor called to check if there should be a time warning this cycle (should only be used from the robot).
ArSyncTask *	getRunning (void)
	Returns what this is running, if anything (recurses).
ArTaskState::State	getState (void)
	Gets the state of the task.
ArRetFunctor< unsigned int > *	getWarningTimeCB (void)
	Gets the functor called to get the cycle warning time (should only be used from the robot).
bool	isDeleting (void)
void	log (int depth=0)
	Prints the node, which prints all the children of this node as well.
void	remove (ArSyncTask *proc)
void	run (void)
	Runs the node, which runs all children of this node as well.
void	setNoTimeWarningCB (ArRetFunctor< bool > *functor)
	Sets the functor called to check if there should be a time warning this cycle (should only be used from the robot).
void	setState (ArTaskState::State state)
	Sets the state of the task.
void	setWarningTimeCB (ArRetFunctor< unsigned int > *functor)
	Sets the functor called to get the cycle warning time (should only be used from the robot).
virtual	~ArSyncTask ()
	Destructor.
Protected Attributes
ArFunctor *	myFunctor
ArSyncTask *	myInvokingOtherFunctor
bool	myIsDeleting
std::multimap< int, ArSyncTask * >	myMultiMap
std::string	myName
ArRetFunctor< bool > *	myNoTimeWarningCB
ArSyncTask *	myParent
bool	myRunning
ArTaskState::State	myState
ArTaskState::State *	myStatePointer
ArRetFunctor< unsigned int > *	myWarningTimeCB

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Constructor & Destructor Documentation

ArSyncTask::ArSyncTask (  const char *  name, ArFunctor *  functor = NULL, ArTaskState::State *  state = NULL, ArSyncTask *  parent = NULL )

Constructor, shouldn't ever do a new on anything besides the root node. New should never be called to create an ArSyncTask except to create the root node. Read the detailed documentation of the class for details.

ArSyncTask::~ArSyncTask (   )  [virtual]

Destructor. If you delete the task it deletes everything in its list, so to delete the whole tree just delete the top one... also note that if you delete a node, it will remove itself from its parents list.

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Member Function Documentation

void ArSyncTask::addNewBranch (  const char *  nameOfNew, int  position, ArTaskState::State *  state = NULL )

Adds a new branch to this instance. Creates a new task with the given name and puts the task into its own iternal list at the given position. Parameters: nameOfNew  Name to give to the new task. position  place in list to put the branch, things are run/printed in the order of highest number to lowest number, no limit on numbers (other than that it is an int). ARIA uses 0 to 100 just as a convention. state  Pointer to external variable to store task state in, or NULL to use a new internal variable instead.

void ArSyncTask::addNewLeaf (  const char *  nameOfNew, int  position, ArFunctor *  functor, ArTaskState::State *  state = NULL )

Adds a new leaf to this instance. Creates a new task with the given name and puts the task into its own iternal list at the given position. Sets the nodes functor so that it will call the functor when run is called. Parameters: nameOfNew  Name to give to the new task. position  place in list to put the branch, things are run/printed in the order of highest number to lowest number, no limit on numbers (other than that it is an int). ARIA uses 0 to 100 just as a convention. functor  ArFunctor which contains the functor to invoke when run is called. state  Pointer to external variable to store task state in, or NULL to use an internal variable instead.

ArSyncTask * ArSyncTask::find (  ArFunctor *  functor  )

Finds the task recursively down the tree by functor. Finds a node below (or at) this level in the tree with the given functor Parameters: functor  The task functor pointer to search for. Must not be NULL. Returns: The task, if found. If not found, NULL.

ArSyncTask * ArSyncTask::find (  const char *  name  )

Finds the task recursively down the tree by name. Finds a node below (or at) this level in the tree with the given name Parameters: name  The name of the child we are interested in finding Returns: The task, if found. If not found, NULL.

ArSyncTask * ArSyncTask::findNonRecursive (  ArFunctor *  functor  )

Finds the task in the instances list of children, by functor. Finds a child of this node with the given functor Parameters: functor  the functor we are interested in finding Returns: The task, if found. If not found, NULL.

ArSyncTask * ArSyncTask::findNonRecursive (  const char *  name  )

Finds the task in the instances list of children, by name. Finds a child of this node with the given name Parameters: name  The name of the child we are interested in finding Returns: The task, if found. If not found, NULL.

ArRetFunctor< bool > * ArSyncTask::getNoTimeWarningCB (  void   )

Gets the functor called to check if there should be a time warning this cycle (should only be used from the robot). This sets a functor which will be called to see if we should warn this time through or not.

ArRetFunctor< unsigned int > * ArSyncTask::getWarningTimeCB (  void   )

Gets the functor called to get the cycle warning time (should only be used from the robot). This gets a functor which will be called to find the time on the task such that if it takes longer than this number of ms to run a warning message will be issued, sets this on the children too.

void ArSyncTask::log (  int  depth = 0  )

Prints the node, which prints all the children of this node as well. Prints the node... the defaulted depth parameter controls how far over to print the data (how many tabs)... it recurses down all its children.

void ArSyncTask::run (  void   )

Runs the node, which runs all children of this node as well. If this node is a leaf it calls the functor for the node, if it is a branch it goes through all of the children in the order of highest position to lowest position and calls run on them.

void ArSyncTask::setNoTimeWarningCB (  ArRetFunctor< bool > *  functor  )

Sets the functor called to check if there should be a time warning this cycle (should only be used from the robot). This sets a functor which will be called to see if we should warn this time through or not.

void ArSyncTask::setWarningTimeCB (  ArRetFunctor< unsigned int > *  functor  )

Sets the functor called to get the cycle warning time (should only be used from the robot). This sets a functor which will be called to find the time on the task such that if it takes longer than this number of ms to run a warning message will be issued, sets this on the children too.

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

• ArSyncTask.h
• ArSyncTask.cpp

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