mtsTaskContinuous.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):  Peter Kazanzides
  Created on: 2008-09-23
 
  (C) Copyright 2008-2026 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 _mtsTaskContinuous_h
#define _mtsTaskContinuous_h
 
#include <cisstMultiTask/mtsTask.h>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>

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

    bool NewThread;

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

    void *RunInternal(void* argument) override;

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

    mtsTaskContinuous(const std::string & name,
                      unsigned int sizeStateTable = 256,
                      bool newThread = true);
 
    mtsTaskContinuous(const mtsTaskContinuousConstructorArg &arg);

    virtual ~mtsTaskContinuous();
 
    /********************* Methods to change task status *****************/
 
    /* Create a new thread (if needed). */
    void Create(void *data = 0) override;

    void Start(void) override;

    void Suspend(void) override;

    void Kill(void) override;
 
    /********************* Other Methods *****************/

    virtual bool CreatesThread(void) const { return NewThread; }
};
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskContinuous)
 
// Continuous task that doesn't create a thread (uses main thread).
 
class CISST_EXPORT mtsTaskMain : public mtsTaskContinuous
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
public:
    mtsTaskMain(const std::string &name) : mtsTaskContinuous(name, 256, false) {}
    ~mtsTaskMain() {}
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsTaskMain)
 
#endif // _mtsTaskContinuous_h