/usr/include/Aria/ArRecurrentTask.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
// 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"
/// 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
*/
class ArRecurrentTask : public ArASyncTask
{
public:
/// Constructor
AREXPORT ArRecurrentTask();
/// Descructor
AREXPORT ~ArRecurrentTask();
/// The main run loop
/**
Override this function and put your task here.
*/
virtual void task() = 0;
/// Starts up on cycle of the recurrent task
AREXPORT void go();
/// Check if the task is running or not
/**
0 = running, 1 = finished normally, 2 = canceled
*/
AREXPORT int done();
/// Cancel the task and reset for the next cycle
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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