| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __TASK_H__
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| 8 | #define __TASK_H__
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| 9 |
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| 10 | #include "ErrorBase.h"
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| 11 | #include <vxWorks.h>
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| 12 |
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| 13 | /**
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| 14 | * WPI task is a wrapper for the native Task object.
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| 15 | * All WPILib tasks are managed by a static task manager for simplified cleanup.
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| 16 | **/
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| 17 | class Task : public ErrorBase
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| 18 | {
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| 19 | public:
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| 20 | static const UINT32 kDefaultPriority = 101;
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| 21 | static const INT32 kInvalidTaskID = -1;
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| 22 |
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| 23 | Task(const char* name, FUNCPTR function, INT32 priority = kDefaultPriority, UINT32 stackSize = 20000);
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| 24 | virtual ~Task();
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| 25 |
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| 26 | bool Start(UINT32 arg0 = 0, UINT32 arg1 = 0, UINT32 arg2 = 0, UINT32 arg3 = 0, UINT32 arg4 = 0,
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| 27 | UINT32 arg5 = 0, UINT32 arg6 = 0, UINT32 arg7 = 0, UINT32 arg8 = 0, UINT32 arg9 = 0);
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| 28 | bool Restart();
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| 29 | bool Stop();
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| 30 |
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| 31 | bool IsReady();
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| 32 | bool IsSuspended();
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| 33 |
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| 34 | bool Suspend();
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| 35 | bool Resume();
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| 36 |
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| 37 | bool Verify();
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| 38 |
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| 39 | INT32 GetPriority();
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| 40 | bool SetPriority(INT32 priority);
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| 41 | const char* GetName();
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| 42 | INT32 GetID();
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| 43 |
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| 44 | private:
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| 45 | FUNCPTR m_function;
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| 46 | char* m_taskName;
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| 47 | INT32 m_taskID;
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| 48 | UINT32 m_stackSize;
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| 49 | INT32 m_priority;
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| 50 | bool HandleError(STATUS results);
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| 51 | DISALLOW_COPY_AND_ASSIGN(Task);
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| 52 | };
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| 53 |
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| 54 | #endif // __TASK_H__
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