|
WPILib 2012
WPILibRoboticsLibraryforFRC
|
Task.h
00001 /*----------------------------------------------------------------------------*/ 00002 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00003 /* Open Source Software - may be modified and shared by FRC teams. The code */ 00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ 00005 /*----------------------------------------------------------------------------*/ 00006 00007 #ifndef __TASK_H__ 00008 #define __TASK_H__ 00009 00010 #include "ErrorBase.h" 00011 #include <vxWorks.h> 00012 00017 class Task : public ErrorBase 00018 { 00019 public: 00020 static const UINT32 kDefaultPriority = 101; 00021 static const INT32 kInvalidTaskID = -1; 00022 00023 Task(const char* name, FUNCPTR function, INT32 priority = kDefaultPriority, UINT32 stackSize = 20000); 00024 virtual ~Task(); 00025 00026 bool Start(UINT32 arg0 = 0, UINT32 arg1 = 0, UINT32 arg2 = 0, UINT32 arg3 = 0, UINT32 arg4 = 0, 00027 UINT32 arg5 = 0, UINT32 arg6 = 0, UINT32 arg7 = 0, UINT32 arg8 = 0, UINT32 arg9 = 0); 00028 bool Restart(); 00029 bool Stop(); 00030 00031 bool IsReady(); 00032 bool IsSuspended(); 00033 00034 bool Suspend(); 00035 bool Resume(); 00036 00037 bool Verify(); 00038 00039 INT32 GetPriority(); 00040 bool SetPriority(INT32 priority); 00041 const char* GetName(); 00042 INT32 GetID(); 00043 00044 private: 00045 FUNCPTR m_function; 00046 char* m_taskName; 00047 INT32 m_taskID; 00048 UINT32 m_stackSize; 00049 INT32 m_priority; 00050 bool HandleError(STATUS results); 00051 DISALLOW_COPY_AND_ASSIGN(Task); 00052 }; 00053 00054 #endif // __TASK_H__
