mtsTaskPeriodic.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Ankur Kapoor, Peter Kazanzides, Anton Deguet
  Created on: 2004-04-30
 
  (C) Copyright 2004-2026 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 

 
#ifndef _mtsTaskPeriodic_h
#define _mtsTaskPeriodic_h
 
#include <cisstMultiTask/mtsTaskContinuous.h>
#include <cisstOSAbstraction/osaThreadBuddy.h>
#include <cisstOSAbstraction/osaTimeServer.h>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>

class CISST_EXPORT mtsTaskPeriodic : public mtsTaskContinuous
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
 public:
    typedef mtsTaskContinuous BaseType;
 
 protected:
    /************************ Protected task data  *********************/

    osaThreadBuddy ThreadBuddy;

    double Period;
    osaAbsoluteTime AbsoluteTimePeriod;

    bool IsHardRealTime;
 
    /********************* Methods that call user methods *****************/

    void *RunInternal(void* argument) override;

    void StartupInternal(void) override;

    void CleanupInternal(void) override;

    void StartInternal(void) override;
 
 public:
    /********************* Task constructor and destructor *****************/

    mtsTaskPeriodic(const std::string & name,
                    double periodicityInSeconds,
                    bool isHardRealTime = false,
                    unsigned int sizeStateTable = 256,
                    bool newThread = true);
 
    mtsTaskPeriodic(const std::string & name,
                    const osaAbsoluteTime& periodicity,
                    bool isHardRealTime = false,
                    unsigned int sizeStateTable = 256,
                    bool newThread = true);
 
    mtsTaskPeriodic(const mtsTaskPeriodicConstructorArg &arg);

    virtual ~mtsTaskPeriodic();
 
    /********************* Methods to change task status *****************/
    /* (use Start, Create and Kill methods from base classes)            */

    void Suspend(void) override;
 
    /********************* Methods for task period and overrun ************/

    double GetPeriodicity(void) const;

    bool IsPeriodic(void) const override;
 
};
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskPeriodic)
 
 
#endif // _mtsTaskPeriodic_h