/usr/include/Aria/ArASyncTask.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 | /*
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
*/
#ifndef ARASYNCTASK_H
#define ARASYNCTASK_H
#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ArThread.h"
/// Asynchronous task (runs in its own thread)
/**
The ArAsynTask is a task that runs in its own thread. This is a
rather simple class. The user simply needs to derive their own
class from ArAsyncTask and define the runThread() function. They
then need to create an instance of their task and call run or
runAsync. The standard way to stop a task is to call stopRunning()
which sets ArThread::myRunning to false. In their run loop, they
should pay attention to the getRunning() or the ArThread::myRunning
variable. If this value goes to false, the task should clean up
after itself and exit its runThread() function.
@ingroup UtilityClasses
**/
class ArASyncTask : public ArThread
{
public:
/// Constructor
AREXPORT ArASyncTask();
/// Destructor
AREXPORT virtual ~ArASyncTask();
/// The main run loop
/**
Override this function and put your taskes run loop here. Check the
value of getRunning() periodicly in your loop. If the value
is false, the loop should exit and runThread() should return.
The argument and return value are specific to the platform thread implementation, and
can be ignored.
@swignote In the wrapper libraries, this method takes no arguments and has no return value.
*/
AREXPORT virtual void * runThread(void *arg) = 0;
/// Run without creating a new thread
/**
This will run the the ArASyncTask without creating a new
thread to run it in. It performs the needed setup then calls runThread()
directly instead of letting the system threading system do it in a new thread.
*/
virtual void run(void) { runInThisThread(); }
/// Run in its own thread
virtual void runAsync(void) { create(); }
// reimplemented here just so its easier to see in the docs
/// Stop the thread
virtual void stopRunning(void) {myRunning=false;}
/// Create the task and start it going
AREXPORT virtual int create(bool joinable=true, bool lowerPriority=true);
/** Internal function used with system threading system to run the new thread.
In general, use run() or runAsync() instead.
@internal
*/
AREXPORT virtual void * runInThisThread(void *arg=0);
/// Gets a string that describes what the thread is doing, or NULL if it
/// doesn't know. Override this in your subclass to return a status
/// string. This can be used for debugging or UI display.
virtual const char *getThreadActivity(void) { return NULL; }
private:
// Hide regular Thread::Create
virtual int create(ArFunctor * /*func*/, bool /*joinable=true*/,
bool /*lowerPriority=true*/) {return(false);}
ArRetFunctor1C<void*, ArASyncTask, void*> myFunc;
};
#endif // ARASYNCTASK_H
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