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  25. <BODY LANG="en-US" TEXT="#000000" LINK="#0000ff" BGCOLOR="#ffffff" DIR="LTR">
    26. 

  26. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=4 STYLE="font-size: 15pt"><B>Task
    27. 

  27. Scheduler</B></FONT></P>
    28. 

  28. <P CLASS="western" STYLE="margin-bottom: 0in"><B>cooperative
    29. 

  29. multitasking for Arduino microcontrollers</B></P>
    30. 

  30. <P CLASS="western" STYLE="margin-bottom: 0in; border-top: none; border-bottom: 1px solid #000000; border-left: none; border-right: none; padding-top: 0in; padding-bottom: 0.01in; padding-left: 0in; padding-right: 0in">
    31. 

  31. <FONT SIZE=2 STYLE="font-size: 11pt"><B>Version 1.9.2: 2015-12-20</B></FONT></P>
    32. 

  32. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    33. 

  33. </P>
    34. 

  34. <P CLASS="western" STYLE="margin-bottom: 0in"><B>OVERVIEW</B>:</P>
    35. 

  35. <P CLASS="western" STYLE="margin-bottom: 0in">A lightweight
    36. 

  36. implementation of cooperative multitasking (task scheduling)
    37. 

  37. supporting:</P>
    38. 

  38. <OL>
    39. 

  39. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Periodic task
    40. 

  40. 	execution (with dynamic execution period in milliseconds –
    41. 

  41. 	frequency of execution)</P>
    42. 

  42. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
    43. 

  43. 	iterations (limited or infinite number of iterations)</P>
    44. 

  44. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution of tasks
    45. 

  45. 	in predefined sequence</P>
    46. 

  46. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Dynamic change of
    47. 

  47. 	task execution parameters (frequency, number of iterations, callback
    48. 

  48. 	methods)</P>
    49. 

  49. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Power saving via
    50. 

  50. 	entering IDLE sleep mode when tasks are not scheduled to run</P>
    51. 

  51. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for
    52. 

  52. 	event-driven task invocation via Status Request object</P>
    53. 

  53. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for task
    54. 

  54. 	IDs and Control Points for error handling and watchdog timer</P>
    55. 

  55. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for Local
    56. 

  56. 	Task Storage pointer (allowing use of same callback code for
    57. 

  57. 	multiple tasks)</P>
    58. 

  58. </OL>
    59. 

  59. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    60. 

  60. </P>
    61. 

  61. <P CLASS="western" STYLE="margin-bottom: 0in">Scheduling overhead:
    62. 

  62. between 15 and 18 microseconds per scheduling pass.</P>
    63. 

  63. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    64. 

  64. </P>
    65. 

  65. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK</B>:</P>
    66. 

  66. <P CLASS="western" STYLE="margin-bottom: 0in">“Task” is a
    67. 

  67. container concept that links together:</P>
    68. 

  68. <OL>
    69. 

  69. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Program code
    70. 

  70. 	performing specific task activities (callback methods)</P>
    71. 

  71. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution interval</P>
    72. 

  72. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
    73. 

  73. 	execution iterations</P>
    74. 

  74. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
    75. 

  75. 	Execution event (Status Request)</P>
    76. 

  76. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
    77. 

  77. 	Pointer to a Local Task Storage area</P>
    78. 

  78. </OL>
    79. 

  79. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    80. 

  80. </P>
    81. 

  81. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Tasks</B> perform
    82. 

  82. certain functions, which could require periodic or one-time
    83. 

  83. execution, update of specific variables, or waiting for specific
    84. 

  84. events. Tasks also could be controlling specific hardware, or
    85. 

  85. triggered by hardware interrupts. 
    86. 

  86. </P>
    87. 

  87. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    88. 

  88. </P>
    89. 

  89. <P CLASS="western" STYLE="margin-bottom: 0in">For execution purposes
    90. 

  90. <B>Tasks</B> are linked into execution <B>chains</B>, which are
    91. 

  91. processed by the <B>Scheduler</B> in the order they were added
    92. 

  92. (linked together).</P>
    93. 

  93. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    94. 

  94. </P>
    95. 

  95. <P CLASS="western" STYLE="margin-bottom: 0in">Each task performs its
    96. 

  96. function via a callback method. Scheduler calls Task’s callback
    97. 

  97. method periodically until task is disabled or runs out of iterations.
    98. 

  98. In addition to “regular” callback method, two additional methods
    99. 

  99. could be utilized for each task: a callback method invoked every time
    100. 

  100. the task is enabled, and a callback method invoked once when the task
    101. 

  101. is disabled. Those two special methods allow tasks to properly
    102. 

  102. initiate themselves for execution, and clean-up after execution is
    103. 

  103. over (E.g., setup pin modes on enable, and always bring pin level to
    104. 

  104. LOW at the end). 
    105. 

  105. </P>
    106. 

  106. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    107. 

  107. </P>
    108. 

  108. <P CLASS="western" STYLE="margin-bottom: 0in">Tasks are responsible
    109. 

  109. for supporting <B>cooperative</B> <B>multitasking</B> by being “good
    110. 

  110. neighbors”, i.e., running their callback methods quickly in a
    111. 

  111. non-blocking way, and releasing control back to scheduler as soon as
    112. 

  112. possible. 
    113. 

  113. </P>
    114. 

  114. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    115. 

  115. </P>
    116. 

  116. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler</B> is
    117. 

  117. executing Tasks' callback methods in the order the tasks were added
    118. 

  118. to the chain, from first to last. Scheduler stops and exists after
    119. 

  119. processing the chain once in order to allow other statements in the
    120. 

  120. main code of <B>loop()</B> method to run.  This is referred to as a
    121. 

  121. <B>“scheduling pass”.</B></P>
    122. 

  122. <P CLASS="western" STYLE="margin-bottom: 0in">(Normally, there is no
    123. 

  123. need to have any other statements in the <B>loop</B>() method other
    124. 

  124. than the Scheduler's <B>execute</B>() method).</P>
    125. 

  125. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    126. 

  126. </P>
    127. 

  127. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    128. 

  128. <B>Below is the flowchart of a Task lifecycle:</B></P>
    129. 

  129. <P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=570 BORDER=0></P>
    130. 

  130. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    131. 

  131. </P>
    132. 

  132. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TaskScheduler</B>
    133. 

  133. library maybe compiled with different compilation controls
    134. 

  134. enabled/disabled. This is a way to limit TaskScheduler functionality
    135. 

  135. (and size) for specific purpose (sketch). This is achieved by
    136. 

  136. defining specific #<B>define</B> paramenters <I>before</I>
    137. 

  137. TaskScheduler.h header file. Specifically:</P>
    138. 

  138. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    139. 

  139. </P>
    140. 

  140. <P CLASS="western" STYLE="margin-bottom: 0in">If compiled with
    141. 

  141. <FONT FACE="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</FONT>
    142. 

  142. enabled, the scheduler will place processor into IDLE sleep mode (for
    143. 

  143. approximately 1 ms, as the timer interrupt will wake it up), after
    144. 

  144. what is determined to be an “idle” pass. An Idle Pass is a pass
    145. 

  145. through the task chain when no Tasks were scheduled to run their
    146. 

  146. callback methods. This is done to avoid repetitive idle passes
    147. 

  147. through the chain when no tasks need to be executed. If any of the
    148. 

  148. tasks in the chain always requires immediate execution (aInterval =
    149. 

  149. 0), then there will be no IDLE sleep between task's callback method
    150. 

  150. execution.</P>
    151. 

  151. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    152. 

  152. </P>
    153. 

  153. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Task
    154. 

  154. Scheduler uses <B>millis()</B> to determine if tasks are ready to be
    155. 

  155. invoked. Therefore, if you put your device to any “deep” sleep
    156. 

  156. mode disabling timer interrupts, the <B>millis()</B> count will be
    157. 

  157. suspended, leading to effective suspension of scheduling. Upon wake
    158. 

  158. up, active tasks need to be re-enabled, which will effectively reset
    159. 

  159. their internal time scheduling variables to the new value of
    160. 

  160. <B>millis(). </B>Time spent in deep sleep mode should be considered
    161. 

  161. “frozen”, i.e., if a task was scheduled to run in 1 second from
    162. 

  162. now, and device was put to sleep for 5 minutes, upon wake up, the
    163. 

  163. task will still be scheduled 1 second from the time of wake up.
    164. 

  164. Executing <B>enable() </B>method on this tasks will make it run as
    165. 

  165. soon as possible. This is a concern only for tasks which are required
    166. 

  166. to run in a truly periodical manner (in absolute time terms). 
    167. 

  167. </P>
    168. 

  168. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    169. 

  169. </P>
    170. 

  170. <P CLASS="western" STYLE="margin-bottom: 0in">In addition to
    171. 

  171. time-only (<B>millis</B>() only)  invocation, tasks can be scheduled
    172. 

  172. to wait on an event employing StatusRequest objects (more about
    173. 

  173. Status Requests later).</P>
    174. 

  174. <P CLASS="western" STYLE="margin-bottom: 0in">Consider a scenario
    175. 

  175. when one task (t1) is performing a function which affects execution
    176. 

  176. of many tasks (t2, t3). In this case the task t1 will “signal”
    177. 

  177. completion of its function via Status Request object. Tasks t2 and t3
    178. 

  178. are “waiting” on the same Status Request object. As soon as
    179. 

  179. status request completes, t2 and t3 are activated.</P>
    180. 

  180. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    181. 

  181. </P>
    182. 

  182. <P CLASS="western" STYLE="margin-bottom: 0in">Alternative scenario is
    183. 

  183. the ne task (t1) and waiting for the completion of a number of tasks
    184. 

  184. (t2, t3). When done, t2 and t3 signal completion of their functions,
    185. 

  185. t1 is invoked. 
    186. 

  186. </P>
    187. 

  187. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    188. 

  188. </P>
    189. 

  189. <P CLASS="western" STYLE="margin-bottom: 0in">Please see the code
    190. 

  190. examples at the end of this document, and included with the library
    191. 

  191. package for details.</P>
    192. 

  192. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    193. 

  193. </P>
    194. 

  194. <P CLASS="western" STYLE="margin-bottom: 0in"><B>COMPILE PARAMETERS:</B></P>
    195. 

  195. <P CLASS="western" STYLE="margin-bottom: 0in">This library could be
    196. 

  196. compiled in several configurations.</P>
    197. 

  197. <P CLASS="western" STYLE="margin-bottom: 0in">Parameters (<B>#define</B>s)
    198. 

  198. defining what functionality should or should not be included need be
    199. 

  199. defined before the library header file in the body of arduino sketch.</P>
    200. 

  200. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    201. 

  201. </P>
    202. 

  202. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    203. 

  203. <B>_TASK_TIMECRITICAL</B></P>
    204. 

  204. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    205. 

  205. library with time critical tracking option enabled.</P>
    206. 

  206. <P CLASS="western" STYLE="margin-bottom: 0in">Time critical option
    207. 

  207. keeps track when current execution took place relative to when it was
    208. 

  208. scheduled, and where next execution time of the task falls. Two
    209. 

  209. methods provide this information. 
    210. 

  210. </P>
    211. 

  211. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task::getStartDelay()
    212. 

  212. </B><SPAN STYLE="font-weight: normal">method: return number of
    213. 

  213. milliseconds between current system time (millis) and point in time
    214. 

  214. when the task was scheduled to start. A value of 0 (zero) indicates
    215. 

  215. that task started right on time per schedule. </SPAN>
    216. 

  216. </P>
    217. 

  217. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task::getOverrun()</B>
    218. 

  218. method: If <B>getOverrun </B>returns a negative value, this Task’s
    219. 

  219. next execution time point is <I>already</I> in the past, and task is
    220. 

  220. behind schedule. This most probably means that either task’s
    221. 

  221. callback method's runtime is too long, or the execution interval is
    222. 

  222. too short (and therefore schedule is too aggressive).</P>
    223. 

  223. <P CLASS="western" STYLE="margin-bottom: 0in">A positive value
    224. 

  224. indicates that task is on schedule, and callback methods have enough
    225. 

  225. time to finish before the next scheduled pass. 
    226. 

  226. </P>
    227. 

  227. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    228. 

  228. </P>
    229. 

  229. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    230. 

  230. <B>_TASK_SLEEP_ON_IDLE_RUN</B></P>
    231. 

  231. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    232. 

  232. library with the <B>sleep</B> option enabled (AVR boards only).</P>
    233. 

  233. <P CLASS="western" STYLE="margin-bottom: 0in">When enabled, scheduler
    234. 

  234. will put the microcontroller into <B>SLEEP_MODE_IDLE</B> state if
    235. 

  235. none of the tasks’ callback methods were activated during execution
    236. 

  236. pass. <B>IDLE</B> state is interrupted by timers once every 1 ms.
    237. 

  237. Putting microcontroller to IDLE state helps conserve power.  Device
    238. 

  238. in SLEEP_MODE_IDLE wakes up to all hardware and timer interrupts, so
    239. 

  239. scheduling is kept current.</P>
    240. 

  240. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    241. 

  241. </P>
    242. 

  242. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    243. 

  243. #define <B>_TASK_STATUS_REQUEST</B></P>
    244. 

  244. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    245. 

  245. TaskScheduler with support for StatusRequest object. Status Requests
    246. 

  246. are objects allowing tasks to wait on an event, and signal event
    247. 

  247. completion to each other. 
    248. 

  248. </P>
    249. 

  249. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    250. 

  250. </P>
    251. 

  251. <P CLASS="western" STYLE="margin-bottom: 0in">#define <B>_TASK_WDT_IDS</B></P>
    252. 

  252. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    253. 

  253. TaskScheduler with support for Task IDs and Control Points. Each task
    254. 

  254. can be (and is by default) assigned an ID, which could be used to
    255. 

  255. identify the task in case there is a problem with it. Furthermore
    256. 

  256. within the task, Control Points could be defined to further help with
    257. 

  257. pinpointing potential problem areas. For instance, the tasks which
    258. 

  258. deal with external resources (sensors, serial communications,
    259. 

  259. anything hardware dependent) can be blocked (or hung), by failed
    260. 

  260. hardware. In this case, a watchdog timer could be employed to trap
    261. 

  261. such a failed task, and identify which one (by task id) and where in
    262. 

  262. the task (by a control point) the problem is likely located.</P>
    263. 

  263. <P CLASS="western" STYLE="margin-bottom: 0in"> 
    264. 

  264. </P>
    265. 

  265. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>by
    266. 

  266. default, talk IDs are assigned sequentially (1, 2, 3, …) to the
    267. 

  267. tasks as they are being created. Programmer can assign a specific
    268. 

  268. task id. <B>Task ids are unsigned integers.</B></P>
    269. 

  269. <P CLASS="western" STYLE="margin-bottom: 0in">Control points provide
    270. 

  270. a way to identify potential problem points within a task. Control
    271. 

  271. points are <B>unsigned integers </B>as well. Please note that there
    272. 

  272. is only one control point per task, and it is set to zero when the
    273. 

  273. task’s callback method is invoked (this is done to prevent “stray”
    274. 

  274. control point from previous task(s) confusing the matters.</P>
    275. 

  275. <P CLASS="western" STYLE="margin-bottom: 0in">Example #7 contains a
    276. 

  276. test of task ID and control points functionality.  
    277. 

  277. </P>
    278. 

  278. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    279. 

  279. </P>
    280. 

  280. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    281. 

  281. <B>_TASK_LTS_POINTER</B></P>
    282. 

  282. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    283. 

  283. TaskScheduler with support for Local Task Storage pointer (LTS). LTS
    284. 

  284. is a generic (void*) pointer which could be set to reference a
    285. 

  285. variable or a structure specific to a particular task. A callback
    286. 

  286. method can get access to specific variables by getting reference to a
    287. 

  287. currently running task from the scheduler, and then casting (void*)
    288. 

  288. LTS pointer to the appropriate pointer type. 
    289. 

  289. </P>
    290. 

  290. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    291. 

  291. </P>
    292. 

  292. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>above
    293. 

  293. parameters are<B> DISABLED </B>by default, and need to be explicitly
    294. 

  294. enabled by placing appropriate #define statements in front of the
    295. 

  295. #include statement for the TaskScheduler header file.</P>
    296. 

  296. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    297. 

  297. </P>
    298. 

  298. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    299. 

  299. </P>
    300. 

  300. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    301. 

  301. </P>
    302. 

  302. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    303. 

  303. </P>
    304. 

  304. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK PRIORITY AND
    305. 

  305. COOPERATIVE MULTITASKING:</B></P>
    306. 

  306. <P CLASS="western" STYLE="margin-bottom: 0in">TaskScheduler <B>does
    307. 

  307. not support</B> task priority functionality. I have been thinking a
    308. 

  308. lot about it (especially since Symbian's Active Objects, which
    309. 

  309. TaskScheduler is inspired by, support it), but decided against it.  
    310. 

  310. </P>
    311. 

  311. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    312. 

  312. </P>
    313. 

  313. <P CLASS="western" STYLE="margin-bottom: 0in">This is why:</P>
    314. 

  314. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    315. 

  315. </P>
    316. 

  316. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    317. 

  317. </P>
    318. 

  318. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    319. 

  319. </P>
    320. 

  320. <P CLASS="western" STYLE="margin-bottom: 0in">1. Execution chains are
    321. 

  321. simple and efficient. The main idea is to minimize scheduling
    322. 

  322. overhead by Scheduler going through the chain. Implementing true
    323. 

  323. priority would require looking ahead through the entire chain,
    324. 

  324. ranking and aging tasks by priorities. It would slow the <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">execute()
    325. 

  325. </FONT></FONT>loop significantly.</P>
    326. 

  326. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    327. 

  327. </P>
    328. 

  328. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    329. 

  329. </P>
    330. 

  330. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    331. 

  331. </P>
    332. 

  332. <P CLASS="western" STYLE="margin-bottom: 0in">2. TaskScheduler is <B>NOT</B>
    333. 

  333. a pre-emptive multi-tasking library. Nor is it a Real-Time OS. There
    334. 

  334. is no way to break execution of one task in favor of another.
    335. 

  335. Therefore callback methods require careful programming for
    336. 

  336. cooperative behavior.</P>
    337. 

  337. <P CLASS="western" STYLE="margin-bottom: 0in">This has, however,
    338. 

  338. significant benefits: you don't need to worry about concurrency
    339. 

  339. inside the callback method, since only one callback method runs at a
    340. 

  340. time, and could not be interrupted. All resources are yours for that
    341. 

  341. period of time, noone can switch the value of variables (except
    342. 

  342. interrupt functions of course...), etc. It is a stable and
    343. 

  343. predictable environment, and it helps a lot with writing stable code.
    344. 

  344. </P>
    345. 

  345. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    346. 

  346. </P>
    347. 

  347. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    348. 

  348. </P>
    349. 

  349. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    350. 

  350. </P>
    351. 

  351. <P CLASS="western" STYLE="margin-bottom: 0in">A number of things
    352. 

  352. could be done instead of priorities:</P>
    353. 

  353. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    354. 

  354. </P>
    355. 

  355. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    356. 

  356. </P>
    357. 

  357. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    358. 

  358. </P>
    359. 

  359. <P CLASS="western" STYLE="margin-bottom: 0in">1. Schedule your
    360. 

  360. critical tasks to run more frequently than the other tasks</P>
    361. 

  361. <P CLASS="western" STYLE="margin-bottom: 0in">. <BR>(Since you can
    362. 

  362. control the interval, you could also change the task to run more or
    363. 

  363. less frequently as the situation demands).</P>
    364. 

  364. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    365. 

  365. </P>
    366. 

  366. <P CLASS="western" STYLE="margin-bottom: 0in">2. If one particular
    367. 

  367. callback routine is critical, create a couple of tasks referring to
    368. 

  368. the same callback and &quot;sprinkle&quot; them around the chain:</P>
    369. 

  369. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    370. 

  370. </P>
    371. 

  371. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    372. 

  372. </P>
    373. 

  373. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    374. 

  374. </P>
    375. 

  375. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Scheduler
    376. 

  376. ts;</FONT></FONT></P>
    377. 

  377. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    378. 

  378. </P>
    379. 

  379. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    380. 

  380. t1(20, TASK_FOREVER, &amp;callback1, &amp;ts);</FONT></FONT></P>
    381. 

  381. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    382. 

  382. </P>
    383. 

  383. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    384. 

  384. t2(1000, TASK_FOREVER, &amp;callback2, &amp;ts);</FONT></FONT></P>
    385. 

  385. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    386. 

  386. </P>
    387. 

  387. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    388. 

  388. t3(20, TASK_FOREVER, &amp;callback1, &amp;ts);</FONT></FONT></P>
    389. 

  389. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    390. 

  390. </P>
    391. 

  391. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    392. 

  392. t4(1000, TASK_FOREVER, &amp;callback4, &amp;ts);</FONT></FONT></P>
    393. 

  393. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    394. 

  394. </P>
    395. 

  395. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t3.delay(10);</FONT></FONT></P>
    396. 

  396. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    397. 

  397. </P>
    398. 

  398. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    399. 

  399. </P>
    400. 

  400. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    401. 

  401. </P>
    402. 

  402. <P CLASS="western" STYLE="margin-bottom: 0in">Note that t1 and t3
    403. 

  403. call the same callback method, and are shifted in time by 10 millis.
    404. 

  404. So effectively callback1 will be called every 10 millis, but would be
    405. 

  405. &quot;sandwiched&quot; between t2 and t4. 
    406. 

  406. </P>
    407. 

  407. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    408. 

  408. </P>
    409. 

  409. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    410. 

  410. </P>
    411. 

  411. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    412. 

  412. </P>
    413. 

  413. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    414. 

  414. </P>
    415. 

  415. <P CLASS="western" STYLE="margin-bottom: 0in">3. Use short efficient
    416. 

  416. callback methods written for cooperative multitasking.</P>
    417. 

  417. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    418. 

  418. </P>
    419. 

  419. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    420. 

  420. </P>
    421. 

  421. <P CLASS="western" STYLE="margin-bottom: 0in">What that means is:</P>
    422. 

  422. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    423. 

  423. </P>
    424. 

  424. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    425. 

  425. </P>
    426. 

  426. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    427. 

  427. </P>
    428. 

  428. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">a)
    429. 

  429. <B>DO NOT</B> use Arduino's  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">delay()</FONT></FONT><FONT FACE="Andale Mono, MS Mincho">
    430. 

  430. </FONT>function. It is blocking and will hold the entire chain.
    431. 

  431. Instead break the callback method into two, switch the callback
    432. 

  432. method of the task where delay is necessary and delay the task by
    433. 

  433. that number of millis. You get your delay, and other tasks get a
    434. 

  434. chance to run:</P>
    435. 

  435. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    436. 

  436. </P>
    437. 

  437. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    438. 

  438. </P>
    439. 

  439. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    440. 

  440. </P>
    441. 

  441. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">instead
    442. 

  442. of:</P>
    443. 

  443. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    444. 

  444. </P>
    445. 

  445. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    446. 

  446. </P>
    447. 

  447. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    448. 

  448. </P>
    449. 

  449. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    450. 

  450.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    451. 

  451. callback() {</FONT></FONT></P>
    452. 

  452. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    453. 

  453. </P>
    454. 

  454. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    455. 

  455.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    456. 

  456. stuff</FONT></FONT></P>
    457. 

  457. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    458. 

  458. </P>
    459. 

  459. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    460. 

  460.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">delay(1000);</FONT></FONT></P>
    461. 

  461. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    462. 

  462. </P>
    463. 

  463. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    464. 

  464.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    465. 

  465. more stuff</FONT></FONT></P>
    466. 

  466. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    467. 

  467. </P>
    468. 

  468. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    469. 

  469.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    470. 

  470. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    471. 

  471. </P>
    472. 

  472. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    473. 

  473.   
    474. 

  474. </P>
    475. 

  475. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    476. 

  476. </P>
    477. 

  477. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">do
    478. 

  478. this:</P>
    479. 

  479. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    480. 

  480. </P>
    481. 

  481. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    482. 

  482. </P>
    483. 

  483. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    484. 

  484. </P>
    485. 

  485. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    486. 

  486.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    487. 

  487. callback1() {</FONT></FONT></P>
    488. 

  488. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    489. 

  489. </P>
    490. 

  490. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    491. 

  491.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    492. 

  492. stuff</FONT></FONT></P>
    493. 

  493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    494. 

  494. </P>
    495. 

  495. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    496. 

  496.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback2);</FONT></FONT></P>
    497. 

  497. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    498. 

  498. </P>
    499. 

  499. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    500. 

  500.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</FONT></FONT></P>
    501. 

  501. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    502. 

  502. </P>
    503. 

  503. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    504. 

  504.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    505. 

  505. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    506. 

  506. </P>
    507. 

  507. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    508. 

  508. </P>
    509. 

  509. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    510. 

  510.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    511. 

  511. callback2() {</FONT></FONT></P>
    512. 

  512. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    513. 

  513. </P>
    514. 

  514. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    515. 

  515.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    516. 

  516. more stuff</FONT></FONT></P>
    517. 

  517. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    518. 

  518. </P>
    519. 

  519. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    520. 

  520.   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback1);</FONT></FONT></P>
    521. 

  521. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    522. 

  522. </P>
    523. 

  523. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    524. 

  524.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    525. 

  525. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    526. 

  526. </P>
    527. 

  527. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    528. 

  528. </P>
    529. 

  529. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    530. 

  530. </P>
    531. 

  531. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    532. 

  532. </P>
    533. 

  533. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    534. 

  534. </P>
    535. 

  535. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">b)
    536. 

  536. Same goes to <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">pulseIn()</FONT></FONT>
    537. 

  537. function. If you have to use it, set the timeout parameter such that
    538. 

  538. it is not a default 1 second. PulseIn functionality could be achieved
    539. 

  539. via pin interrupts, and that solution is non-blocking.</P>
    540. 

  540. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    541. 

  541. </P>
    542. 

  542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    543. 

  543. </P>
    544. 

  544. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    545. 

  545. </P>
    546. 

  546. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">c)
    547. 

  547. Do don run long loops (for or do/while) in you callback methods. Make
    548. 

  548. the main arduino loop be the loop driver for you:</P>
    549. 

  549. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    550. 

  550. </P>
    551. 

  551. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    552. 

  552. </P>
    553. 

  553. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    554. 

  554. </P>
    555. 

  555. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">instead
    556. 

  556. of:</P>
    557. 

  557. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    558. 

  558. </P>
    559. 

  559. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    560. 

  560. </P>
    561. 

  561. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    562. 

  562. </P>
    563. 

  563. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    564. 

  564.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    565. 

  565. callback() {</FONT></FONT></P>
    566. 

  566. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    567. 

  567. </P>
    568. 

  568. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    569. 

  569.  
    570. 

  570. </P>
    571. 

  571. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    572. 

  572. </P>
    573. 

  573. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    574. 

  574.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">for(int
    575. 

  575. i=0; i&lt;1000; i++) {</FONT></FONT></P>
    576. 

  576. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    577. 

  577. </P>
    578. 

  578. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    579. 

  579.      <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    580. 

  580. stuff // one loop action</FONT></FONT></P>
    581. 

  581. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    582. 

  582. </P>
    583. 

  583. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    584. 

  584.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    585. 

  585. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    586. 

  586. </P>
    587. 

  587. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    588. 

  588.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    589. 

  589. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    590. 

  590. </P>
    591. 

  591. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    592. 

  592. </P>
    593. 

  593. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    594. 

  594. </P>
    595. 

  595. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">do
    596. 

  596. this:</P>
    597. 

  597. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    598. 

  598. </P>
    599. 

  599. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    600. 

  600. </P>
    601. 

  601. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    602. 

  602. </P>
    603. 

  603. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    604. 

  604.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    605. 

  605. t1(TASK_IMMEDIATE, 1000, &amp;callback);</FONT></FONT></P>
    606. 

  606. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    607. 

  607. </P>
    608. 

  608. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    609. 

  609.   
    610. 

  610. </P>
    611. 

  611. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    612. 

  612. </P>
    613. 

  613. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    614. 

  614.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    615. 

  615. callback() {</FONT></FONT></P>
    616. 

  616. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    617. 

  617. </P>
    618. 

  618. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    619. 

  619.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
    620. 

  620. i = t1.getRunCounter() -1;</FONT></FONT></P>
    621. 

  621. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    622. 

  622. </P>
    623. 

  623. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    624. 

  624.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    625. 

  625. stuff // one loop action</FONT></FONT></P>
    626. 

  626. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    627. 

  627. </P>
    628. 

  628. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    629. 

  629.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    630. 

  630. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    631. 

  631. </P>
    632. 

  632. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    633. 

  633. </P>
    634. 

  634. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    635. 

  635. </P>
    636. 

  636. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">or
    637. 

  637. this:</P>
    638. 

  638. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    639. 

  639. </P>
    640. 

  640. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    641. 

  641. </P>
    642. 

  642. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    643. 

  643. </P>
    644. 

  644. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    645. 

  645.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    646. 

  646. t1(TASK_IMMEDIATE, 1000, &amp;callback, true, &amp;t1On);</FONT></FONT></P>
    647. 

  647. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    648. 

  648. </P>
    649. 

  649. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    650. 

  650.  
    651. 

  651. </P>
    652. 

  652. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    653. 

  653. </P>
    654. 

  654. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    655. 

  655.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
    656. 

  656. i;</FONT></FONT></P>
    657. 

  657. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    658. 

  658. </P>
    659. 

  659. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    660. 

  660.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">bool
    661. 

  661. t1On() {</FONT></FONT></P>
    662. 

  662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    663. 

  663. </P>
    664. 

  664. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    665. 

  665.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i
    666. 

  666. = 0;</FONT></FONT></P>
    667. 

  667. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    668. 

  668. </P>
    669. 

  669. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    670. 

  670.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">return
    671. 

  671. true;</FONT></FONT></P>
    672. 

  672. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    673. 

  673. </P>
    674. 

  674. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    675. 

  675.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    676. 

  676. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    677. 

  677. </P>
    678. 

  678. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    679. 

  679.  
    680. 

  680. </P>
    681. 

  681. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    682. 

  682. </P>
    683. 

  683. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    684. 

  684.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    685. 

  685. callback() {</FONT></FONT></P>
    686. 

  686. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    687. 

  687. </P>
    688. 

  688. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    689. 

  689.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    690. 

  690. stuff // one loop action</FONT></FONT></P>
    691. 

  691. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    692. 

  692. </P>
    693. 

  693. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    694. 

  694.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i++;</FONT></FONT></P>
    695. 

  695. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    696. 

  696. </P>
    697. 

  697. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    698. 

  698.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    699. 

  699. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    700. 

  700. </P>
    701. 

  701. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    702. 

  702. </P>
    703. 

  703. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    704. 

  704. </P>
    705. 

  705. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    706. 

  706. </P>
    707. 

  707. <P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
    708. 

  708. <B>REMEMBER: you are already inside the loop - take advantage of it. </B>
    709. 

  709. </P>
    710. 

  710. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    711. 

  711. </P>
    712. 

  712. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">d)
    713. 

  713. Break long running callback methods into several shorter ones, and
    714. 

  714. pass control from one to the other via <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">setCallback()
    715. 

  715. </FONT></FONT>method:</P>
    716. 

  716. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    717. 

  717. </P>
    718. 

  718. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    719. 

  719. </P>
    720. 

  720. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    721. 

  721. </P>
    722. 

  722. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    723. 

  723.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    724. 

  724. t1(TASK_IMMEDIATE, TASK_FAREVER, &amp;callback);</FONT></FONT></P>
    725. 

  725. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    726. 

  726. </P>
    727. 

  727. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    728. 

  728.  
    729. 

  729. </P>
    730. 

  730. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    731. 

  731. </P>
    732. 

  732. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    733. 

  733.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    734. 

  734. callback() {</FONT></FONT></P>
    735. 

  735. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    736. 

  736. </P>
    737. 

  737. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    738. 

  738.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    739. 

  739. do some stuff</FONT></FONT></P>
    740. 

  740. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    741. 

  741. </P>
    742. 

  742. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    743. 

  743.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</FONT></FONT></P>
    744. 

  744. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    745. 

  745. </P>
    746. 

  746. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    747. 

  747.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    748. 

  748. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    749. 

  749. </P>
    750. 

  750. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    751. 

  751.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    752. 

  752. callback_step2() {</FONT></FONT></P>
    753. 

  753. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    754. 

  754. </P>
    755. 

  755. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    756. 

  756.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    757. 

  757. do more stuff</FONT></FONT></P>
    758. 

  758. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    759. 

  759. </P>
    760. 

  760. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    761. 

  761.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</FONT></FONT></P>
    762. 

  762. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    763. 

  763. </P>
    764. 

  764. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    765. 

  765.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    766. 

  766. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    767. 

  767. </P>
    768. 

  768. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    769. 

  769.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    770. 

  770. callback_step3() {</FONT></FONT></P>
    771. 

  771. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    772. 

  772. </P>
    773. 

  773. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    774. 

  774.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    775. 

  775. do last part of the stuff</FONT></FONT></P>
    776. 

  776. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    777. 

  777. </P>
    778. 

  778. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    779. 

  779.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</FONT></FONT></P>
    780. 

  780. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    781. 

  781. </P>
    782. 

  782. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    783. 

  783.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</FONT></FONT></P>
    784. 

  784. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    785. 

  785. </P>
    786. 

  786. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    787. 

  787.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    788. 

  788. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    789. 

  789. </P>
    790. 

  790. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    791. 

  791. </P>
    792. 

  792. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    793. 

  793. </P>
    794. 

  794. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">This
    795. 

  795. will execute all  parts of the callback function in three successive
    796. 

  796. steps, sheduled immediately, but allowing other tasks in the chain to
    797. 

  797. run. Notice that task is scheduled to run immediately, and 1 second
    798. 

  798. period is achieved by delaying the task for 1000 millis at the last
    799. 

  799. step. 
    800. 

  800. </P>
    801. 

  801. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    802. 

  802. </P>
    803. 

  803. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Alternatively
    804. 

  804. you could schedule the task to run every 1000 millis and use
    805. 

  805. <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">forceNextIteration()</FONT></FONT>
    806. 

  806. method in steps 1 and 2 (but not 3!)</P>
    807. 

  807. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    808. 

  808. </P>
    809. 

  809. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    810. 

  810. </P>
    811. 

  811. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    812. 

  812. </P>
    813. 

  813. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    814. 

  814.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    815. 

  815. t1(1000, TASK_FOREVER, &amp;callback);</FONT></FONT></P>
    816. 

  816. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    817. 

  817. </P>
    818. 

  818. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    819. 

  819.  
    820. 

  820. </P>
    821. 

  821. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    822. 

  822. </P>
    823. 

  823. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    824. 

  824.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    825. 

  825. callback() {</FONT></FONT></P>
    826. 

  826. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    827. 

  827. </P>
    828. 

  828. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    829. 

  829.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    830. 

  830. do some stuff</FONT></FONT></P>
    831. 

  831. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    832. 

  832. </P>
    833. 

  833. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    834. 

  834.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</FONT></FONT></P>
    835. 

  835. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    836. 

  836. </P>
    837. 

  837. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    838. 

  838.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</FONT></FONT></P>
    839. 

  839. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    840. 

  840. </P>
    841. 

  841. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    842. 

  842.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    843. 

  843. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    844. 

  844. </P>
    845. 

  845. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    846. 

  846.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    847. 

  847. callback_step2() {</FONT></FONT></P>
    848. 

  848. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    849. 

  849. </P>
    850. 

  850. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    851. 

  851.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    852. 

  852. do more stuff</FONT></FONT></P>
    853. 

  853. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    854. 

  854. </P>
    855. 

  855. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    856. 

  856.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</FONT></FONT></P>
    857. 

  857. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    858. 

  858. </P>
    859. 

  859. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    860. 

  860.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</FONT></FONT></P>
    861. 

  861. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    862. 

  862. </P>
    863. 

  863. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    864. 

  864.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    865. 

  865. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    866. 

  866. </P>
    867. 

  867. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    868. 

  868.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    869. 

  869. callback_step3() {</FONT></FONT></P>
    870. 

  870. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    871. 

  871. </P>
    872. 

  872. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    873. 

  873.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    874. 

  874. do last part of the stuff</FONT></FONT></P>
    875. 

  875. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    876. 

  876. </P>
    877. 

  877. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    878. 

  878.    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</FONT></FONT></P>
    879. 

  879. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    880. 

  880. </P>
    881. 

  881. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    882. 

  882.  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
    883. 

  883. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    884. 

  884. </P>
    885. 

  885. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    886. 

  886. </P>
    887. 

  887. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    888. 

  888. </P>
    889. 

  889. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    890. 

  890. </P>
    891. 

  891. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    892. 

  892. </P>
    893. 

  893. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">e)
    894. 

  894. Compile the library with <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>_TASK_TIMECRITICAL</B></FONT></FONT>
    895. 

  895. enabled and check if your tasks are falling behind schedule. If they
    896. 

  896. are - you need to optimize your code further (or maybe re-evaluate
    897. 

  897. your schedule). If they are not - all is well and you don't need to
    898. 

  898. do anything. E.g., I have a spider robot which needs to measure
    899. 

  899. distance, control motors, and keep track of the angle via querying
    900. 

  900. gyroscope and accelerometer every 10 ms. The idea was to flash
    901. 

  901. onboard LED if any of the tasks fall behind. At 10 ms interval for
    902. 

  902. the gyro the LED does not flash, which means none of the tasks are
    903. 

  903. blocking the others from starting on time. 
    904. 

  904. </P>
    905. 

  905. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    906. 

  906. </P>
    907. 

  907. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    908. 

  908. </P>
    909. 

  909. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    910. 

  910. </P>
    911. 

  911. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    912. 

  912. <FONT SIZE=4><B>API DOCUMENTATION:</B></FONT></P>
    913. 

  913. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    914. 

  914. <BR>
    915. 

  915. </P>
    916. 

  916. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    917. 

  917. <FONT SIZE=4><B>TASKS:</B></FONT></P>
    918. 

  918. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    919. 

  919. <BR>
    920. 

  920. </P>
    921. 

  921. <P CLASS="western" STYLE="margin-bottom: 0in">CREATION:</P>
    922. 

  922. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
    923. 

  923. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    924. 

  924. </P>
    925. 

  925. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    926. 

  926. constructor. 
    927. 

  927. </P>
    928. 

  928. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    929. 

  929. no parameters and creates a task that could be scheduled to run at
    930. 

  930. every scheduling pass indefinitely, but does not have a callback
    931. 

  931. method defined, so no code execution will actually take place. 
    932. 

  932. </P>
    933. 

  933. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    934. 

  934. tasks are created <B>disabled</B> by default.</P>
    935. 

  935. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    936. 

  936. </P>
    937. 

  937. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    938. 

  938. <B>Task(unsigned long aInterval, long aIterations, void
    939. 

  939. (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
    940. 

  940. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    941. 

  941. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    942. 

  942. </P>
    943. 

  943. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Constructor
    944. 

  944. with parameters. 
    945. 

  945. </P>
    946. 

  946. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Creates
    947. 

  947. a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
    948. 

  948. &lt;aIterations&gt; times, executing &lt;aCallback&gt; method on
    949. 

  949. every pass. 
    950. 

  950. </P>
    951. 

  951. <OL>
    952. 

  952. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
    953. 

  953. 	milliseconds (<B>default = 0)</B></P>
    954. 

  954. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aIteration in
    955. 

  955. 	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
    956. 

  956. 	</B>Tasks do not remember the number of iteration set initially.
    957. 

  957. 	After the iterations are done, internal iteration counter is 0. If
    958. 

  958. 	you need to perform another set of iterations, you need to set the
    959. 

  959. 	number of iterations again. <BR><B>Note: </B>Tasks which performed
    960. 

  960. 	all their iterations remain active. 
    961. 

  961. 	</P>
    962. 

  962. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
    963. 

  963. 	pointer to a void callback method without parameters (<B>default =
    964. 

  964. 	NULL)</B></P>
    965. 

  965. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
    966. 

  966. 	<B>optional</B> reference to existing scheduler. If supplied (not
    967. 

  967. 	NULL) this task will be appended to the task chain of the current
    968. 

  968. 	scheduler). (<B>default = NULL)</B></P>
    969. 

  969. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aEnable –
    970. 

  970. 	<B>optional</B>. Value of <B>true </B>will create task enabled.
    971. 

  971. 	(<B>default = false)</B></P>
    972. 

  972. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
    973. 

  973. 	pointer to a bool callback method without parameters, invoked when
    974. 

  974. 	task is enabled. If OnEnable method returns <B>true</B>, task is
    975. 

  975. 	enabled. If <B>OnEnable</B> method return <B>false</B>, task remains
    976. 

  976. 	disabled (<B>default = NULL)</B></P>
    977. 

  977. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
    978. 

  978. 	pointer to a void callback method without parameters, invoked when
    979. 

  979. 	task is disabled (<B>default = NULL)</B></P>
    980. 

  980. </OL>
    981. 

  981. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    982. 

  982. </P>
    983. 

  983. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    984. 

  984. tasks are created <B>disabled</B> by default (unless <B>aEnable</B> =
    985. 

  985. true). You have to explicitly enable the task for execution.</P>
    986. 

  986. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    987. 

  987. </P>
    988. 

  988. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    989. 

  989. </B>OnEnable callback method is called immediately when task is
    990. 

  990. enabled, which could be well ahead of the scheduled execution time of
    991. 

  991. the task. Please bear that in mind – other tasks, hardware, serial
    992. 

  992. interface may not even be initialized yet. It is always advisable to
    993. 

  993. explicitly enable tasks with OnEnable methods after all
    994. 

  994. initialization methods completed (e.g., at the end of <B>setup</B>()
    995. 

  995. method) 
    996. 

  996. </P>
    997. 

  997. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    998. 

  998. </P>
    999. 

  999. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enabled
    1000. 

  1000. task is scheduled for execution as soon as the Scheduler's <B>execute</B>()
    1001. 

  1001. methods gets control. In order to delay first run of the task, use
    1002. 

  1002. <B>enableDelayed</B> or <B>delay</B> method (for enabled tasks)
    1003. 

  1003. method.</P>
    1004. 

  1004. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1005. 

  1005. </P>
    1006. 

  1006. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1007. 

  1007. <B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
    1008. 

  1008. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    1009. 

  1009. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1010. 

  1010. </P>
    1011. 

  1011. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1012. 

  1012. compiled with support for Status Request objects, this constructor
    1013. 

  1013. creates a Task for activation on event (since such tasks must run
    1014. 

  1014. <B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
    1015. 

  1015. <I>enabled</I> status will be set by that method (<I>to 0, 1 and
    1016. 

  1016. false</I> respectively).</P>
    1017. 

  1017. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1018. 

  1018. </P>
    1019. 

  1019. <P CLASS="western" STYLE="margin-bottom: 0in"><B>INFORMATION</B></P>
    1020. 

  1020. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1021. 

  1021. following 3 “getter” methods return task status
    1022. 

  1022. (enabled/disabled), execution interval in milliseconds, number of
    1023. 

  1023. <I><B>remaining</B></I> iterations. 
    1024. 

  1024. </P>
    1025. 

  1025. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1026. 

  1026. </P>
    1027. 

  1027. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
    1028. 

  1028. isEnabled() </B>
    1029. 

  1029. </P>
    1030. 

  1030. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>unsigned
    1031. 

  1031. long getInterval()</B></P>
    1032. 

  1032. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
    1033. 

  1033. getIterations() </B>
    1034. 

  1034. </P>
    1035. 

  1035. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1036. 

  1036. </P>
    1037. 

  1037. <P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
    1038. 

  1038. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; font-weight: normal">
    1039. 

  1039. If library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1040. 

  1040. enabled, you can assess how much later the callback method was
    1041. 

  1041. invoked against when it was scheduled to be invoked. The return value
    1042. 

  1042. of  <B>getOverrun() </B>method provides this information in
    1043. 

  1043. milliseconds. 
    1044. 

  1044. </P>
    1045. 

  1045. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1046. 

  1046. </P>
    1047. 

  1047. <P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
    1048. 

  1048. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1049. 

  1049. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1050. 

  1050. enabled, tasks are monitored for “long running” scenario. A “long
    1051. 

  1051. running” task is a task that does not finish processing its
    1052. 

  1052. callback methods quickly, and thus creates a situation for itself and
    1053. 

  1053. other tasks where they don't run on a scheduled interval, but rather
    1054. 

  1054. “catch up” and are behind.  When task scheduler sets the next
    1055. 

  1055. execution target time, it adds Task's execution interval to the
    1056. 

  1056. previously scheduled execution time:</P>
    1057. 

  1057. <P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1058. 

  1058. <B>next execution time = current execution scheduled time + task
    1059. 

  1059. execution interval</B></P>
    1060. 

  1060. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1061. 

  1061. </P>
    1062. 

  1062. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1063. 

  1063. <B>next execution time</B> happens to be already in the past (<B>next
    1064. 

  1064. execution time</B> &lt; <B>millis()</B>), then task is considered
    1065. 

  1065. <I><B>overrun</B></I>. <B>GetOverrun</B> method returns number of
    1066. 

  1066. milliseconds between next execution time and current time. If the
    1067. 

  1067. <B>value is negative</B>, the task has overrun (cut into the) next
    1068. 

  1068. execution interval by that many milliseconds. 
    1069. 

  1069. </P>
    1070. 

  1070. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Positive
    1071. 

  1071. value indicate number of milliseconds of slack this task has for
    1072. 

  1072. execution purposes. 
    1073. 

  1073. </P>
    1074. 

  1074. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1075. 

  1075. </P>
    1076. 

  1076. <P CLASS="western" STYLE="margin-bottom: 0in"><B>unsigned long
    1077. 

  1077. getRunCounter()</B></P>
    1078. 

  1078. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1079. 

  1079. the number of the current run. “Current run” is the number of
    1080. 

  1080. times a callback method has been invoked since the last time a task
    1081. 

  1081. was enabled. <BR><BR>
    1082. 

  1082. </P>
    1083. 

  1083. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1084. 

  1084. </B>The <B>runCounter</B> value is incremented <I>before</I> callback
    1085. 

  1085. method is invoked. If a task is checking the <B>runCounter</B> value
    1086. 

  1086. within its callback method, then the first run value is 1. 
    1087. 

  1087. </P>
    1088. 

  1088. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1089. 

  1089. task T1 is checking the <B>runCounter</B> value of another task (T2)
    1090. 

  1090. , then value = 0 indicates that T2 has not been invoked yet, and
    1091. 

  1091. value = 1 indicates that T2 has run once. 
    1092. 

  1092. </P>
    1093. 

  1093. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1094. 

  1094. </P>
    1095. 

  1095. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    1096. 

  1096. isFirstIteration()</B></P>
    1097. 

  1097. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Indicates
    1098. 

  1098. whether current pass is (or will be) a first iteration of the task. 
    1099. 

  1099. </P>
    1100. 

  1100. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    1101. 

  1101. isLastIteration()</B></P>
    1102. 

  1102. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
    1103. 

  1103. tasks with a l<I>imited number of iterations only</I>, indicates
    1104. 

  1104. whether current pass is the last iteration. 
    1105. 

  1105. </P>
    1106. 

  1106. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1107. 

  1107. </P>
    1108. 

  1108. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1109. 

  1109. <B>CONTROL:</B></P>
    1110. 

  1110. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1111. 

  1111. <BR>
    1112. 

  1112. </P>
    1113. 

  1113. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
    1114. 

  1114. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1115. 

  1115. </P>
    1116. 

  1116. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1117. 

  1117. the task, and schedules it for immediate execution (without delay) at
    1118. 

  1118. this or next scheduling pass depending on when the task was enabled.
    1119. 

  1119. Scheduler will execute the next pass without any delay because there
    1120. 

  1120. is a task which was enabled and requires execution. 
    1121. 

  1121. </P>
    1122. 

  1122. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1123. 

  1123. </P>
    1124. 

  1124. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1125. 

  1125. </B>if task being enabled is not assigned to a scheduler and is not
    1126. 

  1126. part of execution chain, then task <B>will not</B> be enabled.</P>
    1127. 

  1127. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1128. 

  1128. </P>
    1129. 

  1129. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1130. 

  1130. </B>enable() invokes task’s <B>OnEnable</B> method (if not NULL)
    1131. 

  1131. <B>immediately</B>, which can prepare task for execution. <B>OnEnable</B>
    1132. 

  1132. must return a value of <B>true</B> for task to be enabled. If
    1133. 

  1133. <B>OnEnable</B> returns <B>false</B>, task remains disabled. 
    1134. 

  1134. <B>OnEnable</B> is invoked every time <B>enable</B> is called,
    1135. 

  1135. regardless if task is already enabled or not. Alignment to current
    1136. 

  1136. millis() is performed after <B>OnEnable</B> exits, so any changes to
    1137. 

  1137. the interval inside <B>OnEnable</B> is taken into consideration.</P>
    1138. 

  1138. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">TaskScheduler
    1139. 

  1139. allows tasks to be added to the a Scheduler and enabled at the time
    1140. 

  1140. of creation. <B>Be very careful</B> with such tasks – the <B>OnEnable
    1141. 

  1141. </B>method will be executed immediately, while certain objects (i.e.,
    1142. 

  1142. other Tasks, libraries) are not yet ready (e.g., <B>Wire.begin()</B>
    1143. 

  1143. was not yet called), or hardware not yet activated (pins not set to
    1144. 

  1144. INPUT or OUTPUT). 
    1145. 

  1145. </P>
    1146. 

  1146. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">It
    1147. 

  1147. is very much recommended to to enable all tasks at the end of <B>setup()</B>
    1148. 

  1148. method after all initializations are done. 
    1149. 

  1149. </P>
    1150. 

  1150. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1151. 

  1151. you require immediate execution of already enabled task, use
    1152. 

  1152. <B>forceNextIteratoin</B>() method instead of <B>enable</B>(): it
    1153. 

  1153. achieves the result, but does not call <B>OnEnable</B> method. 
    1154. 

  1154. </P>
    1155. 

  1155. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1156. 

  1156. </P>
    1157. 

  1157. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:</B>
    1158. 

  1158. in the event <B>enable</B>() method is called inside the <B>OnEnable</B>
    1159. 

  1159. callback method (thus basically creating indefinte loop),
    1160. 

  1160. TaskScheduler will only call <B>OnEnable</B> once (thus protecting
    1161. 

  1161. the Task against <B>OnEnable</B> infinite loop). 
    1162. 

  1162. </P>
    1163. 

  1163. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1164. 

  1164. </P>
    1165. 

  1165. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1166. 

  1166. <B>bool enableIfNot();</B></P>
    1167. 

  1167. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1168. 

  1168. <BR>
    1169. 

  1169. </P>
    1170. 

  1170. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1171. 

  1171. the task only if it was previously disabled. Returns previous enable
    1172. 

  1172. state: <B>true</B> if task was already enabled, and <B>false</B> if
    1173. 

  1173. task was disabled. Since <B>enable() </B>schedules Task for execution
    1174. 

  1174. immediately, this method provides a way to activate tasks and
    1175. 

  1175. schedule them for immediate execution only if they are not active
    1176. 

  1176. already.</P>
    1177. 

  1177. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1178. 

  1178. </P>
    1179. 

  1179. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
    1180. 

  1180. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1181. 

  1181. </P>
    1182. 

  1182. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
    1183. 

  1183. the task for execution after a delay (aInterval), but does not change
    1184. 

  1184. the enabled/disabled status of the task. 
    1185. 

  1185. </P>
    1186. 

  1186. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1187. 

  1187. </P>
    1188. 

  1188. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1189. 

  1189. </B>a delay of 0 (zero) will delay task for current execution
    1190. 

  1190. interval. Use <B>forceNextIteration() </B>method to force execution
    1191. 

  1191. of the task’s callback during immediate next scheduling pass. 
    1192. 

  1192. </P>
    1193. 

  1193. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1194. 

  1194. </P>
    1195. 

  1195. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1196. 

  1196. forceNextIteration();</B></P>
    1197. 

  1197. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1198. 

  1198. </P>
    1199. 

  1199. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
    1200. 

  1200. the task for execution during immediate next scheduling pass.</P>
    1201. 

  1201. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1202. 

  1202. Task must be already <I>enabled</I> prior to this method. 
    1203. 

  1203. </P>
    1204. 

  1204. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1205. 

  1205. </P>
    1206. 

  1206. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1207. 

  1207. </B>Task’s schedule is adjusted to run from this moment in time.
    1208. 

  1208. For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
    1209. 

  1209. calling <B>forceNextIteration </B>at 44th second of task execution
    1210. 

  1210. will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
    1211. 

  1211. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1212. 

  1212. </P>
    1213. 

  1213. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1214. 

  1214. enableDelayed();</B></P>
    1215. 

  1215. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1216. 

  1216. </P>
    1217. 

  1217. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1218. 

  1218. the task, and schedules it for execution after task's current
    1219. 

  1219. scheduling interval (aInterval). 
    1220. 

  1220. </P>
    1221. 

  1221. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1222. 

  1222. </P>
    1223. 

  1223. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
    1224. 

  1224. (unsigned long aDelay);</B></P>
    1225. 

  1225. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1226. 

  1226. </P>
    1227. 

  1227. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1228. 

  1228. the task, and schedules it for execution after a specific delay
    1229. 

  1229. (aDelay, which maybe different from aInterval). 
    1230. 

  1230. </P>
    1231. 

  1231. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1232. 

  1232. </P>
    1233. 

  1233. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restart();</B></P>
    1234. 

  1234. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1235. 

  1235. </P>
    1236. 

  1236. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
    1237. 

  1237. tasks with limited number of iterations only, <B>restart</B> method
    1238. 

  1238. will re-enable the task, set the number of iterations back to last
    1239. 

  1239. set value, and schedule task for execution as soon as possible.</P>
    1240. 

  1240. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1241. 

  1241. </P>
    1242. 

  1242. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restartDelayed
    1243. 

  1243. (unsigned long aDelay);</B></P>
    1244. 

  1244. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1245. 

  1245. </P>
    1246. 

  1246. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Same
    1247. 

  1247. as <B>restart()</B> method, with the only difference being that Task
    1248. 

  1248. is scheduled to run first iteration after a delay = <B>aDelay</B>
    1249. 

  1249. milliseconds.</P>
    1250. 

  1250. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1251. 

  1251. </P>
    1252. 

  1252. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
    1253. 

  1253. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1254. 

  1254. </P>
    1255. 

  1255. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Disables
    1256. 

  1256. the task. Scheduler will not execute this task any longer, even if it
    1257. 

  1257. remains in the chain.  Task <B>can</B> be later re-enabled for
    1258. 

  1258. execution. 
    1259. 

  1259. </P>
    1260. 

  1260. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Return
    1261. 

  1261. previous enabled state: <B>true</B> if task was enabled prior to
    1262. 

  1262. calling disable, and <B>false</B> otherwise.</P>
    1263. 

  1263. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1264. 

  1264. not NULL, task’s <B>OnDisable</B> method is invoked <B>immediately</B>.
    1265. 

  1265. <B>OnDisable</B> is invoked only if task was in enabled state. 
    1266. 

  1266. Calling <B>disable</B> 3 times for instance will invoke <B>OnDisable</B>
    1267. 

  1267. only once.</P>
    1268. 

  1268. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1269. 

  1269. </P>
    1270. 

  1270. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void set(unsigned
    1271. 

  1271. long aInterval, long aIterations, void (*aCallback)() , bool
    1272. 

  1272. (*aOnEnable)() , void (*aOnDisable)());</B></P>
    1273. 

  1273. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1274. 

  1274. </P>
    1275. 

  1275. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Allows
    1276. 

  1276. dynamic control of task execution parameters in one method call. 
    1277. 

  1277. </P>
    1278. 

  1278. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B><B>:
    1279. 

  1279. </B>OnEnable and OnDisable parameters can be omitted. In that case
    1280. 

  1280. they will be assigned to <B>NULL</B> and respective methods will no
    1281. 

  1281. longer be called. Therefore it is advisable to use either all five
    1282. 

  1282. parameters explicitly, or employ individual “setter” methods
    1283. 

  1283. below instead. 
    1284. 

  1284. </P>
    1285. 

  1285. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1286. 

  1286. </P>
    1287. 

  1287. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1288. 

  1288. Next five “setter” methods allow changes of individual task
    1289. 

  1289. execution control parameters. 
    1290. 

  1290. </P>
    1291. 

  1291. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1292. 

  1292. setInterval (unsigned long aInterval) </B>
    1293. 

  1293. </P>
    1294. 

  1294. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1295. 

  1295. setIterations (long aIterations) </B>
    1296. 

  1296. </P>
    1297. 

  1297. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1298. 

  1298. setCallback (void (*aCallback)()) </B>
    1299. 

  1299. </P>
    1300. 

  1300. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1301. 

  1301. setOnEnable (bool (*aCallback)()) </B>
    1302. 

  1302. </P>
    1303. 

  1303. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1304. 

  1304. setOnDisable (void (*aCallback)()) </B>
    1305. 

  1305. </P>
    1306. 

  1306. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1307. 

  1307. </P>
    1308. 

  1308. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Next
    1309. 

  1309. execution time calculation takes place <B>after</B> the callback
    1310. 

  1310. method is called, so new interval will be used immediately by the
    1311. 

  1311. scheduler. For the situations when one task is changing the interval
    1312. 

  1312. parameter for the other, <B>setInterval</B> method calls <B>delay
    1313. 

  1313. </B>explicitly to guarantee schedule change, however it <B>does not
    1314. 

  1314. </B>enable the task if task is disabled.</P>
    1315. 

  1315. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Tasks that
    1316. 

  1316. ran through all their allocated iterations are disabled.
    1317. 

  1317. <B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
    1318. 

  1318. <B>enable</B> explicitly, or use <B>restart</B> methods. 
    1319. 

  1319. </P>
    1320. 

  1320. <P CLASS="western" STYLE="margin-bottom: 0in">Please note that as a
    1321. 

  1321. result execution of the taks is <B>delayed</B> by the provided
    1322. 

  1322. interval. If immediate invocation is required, call
    1323. 

  1323. <B>forceNextIteration</B>() method after setting a new interval. 
    1324. 

  1324. </P>
    1325. 

  1325. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1326. 

  1326. </P>
    1327. 

  1327. <P CLASS="western" STYLE="margin-bottom: 0in"><B>STATUS REQUEST
    1328. 

  1328. METHODS:</B></P>
    1329. 

  1329. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1330. 

  1330. <BR>
    1331. 

  1331. </P>
    1332. 

  1332. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1333. 

  1333. <B>void waitFor(StatusRequest* aStatusRequest, unsigned long
    1334. 

  1334. aInterval = 0, long aIterations = 1)</B></P>
    1335. 

  1335. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1336. 

  1336. <B>void waitForDelayed(StatusRequest* aStatusRequest, unsigned long
    1337. 

  1337. aInterval = 0, long aIterations = 1)</B></P>
    1338. 

  1338. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1339. 

  1339. <BR>
    1340. 

  1340. </P>
    1341. 

  1341. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1342. 

  1342. compiled with support for Status Requests, these methods make task
    1343. 

  1343. wait for the completion of <B>aStatusRequest</B> event. 
    1344. 

  1344. </P>
    1345. 

  1345. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
    1346. 

  1346. default <B>waitFor() </B>sets tasks interval to <B>0 (zero)</B> for
    1347. 

  1347. immediate execution when event happens, and also sets the number of
    1348. 

  1348. <B>iterations to 1</B>. However, you can specify different interval
    1349. 

  1349. and number of iterations. 
    1350. 

  1350. </P>
    1351. 

  1351. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
    1352. 

  1352. default <B>waitForDelayed() </B>sets tasks interval to a supplied
    1353. 

  1353. value or (if omitted or zero) keeps the current interval, so delayed
    1354. 

  1354. execution will take place when the event happens.  It also sets the
    1355. 

  1355. number of <B>iterations to 1</B> by default if not supplied.  
    1356. 

  1356. </P>
    1357. 

  1357. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">When
    1358. 

  1358. Status Request object completes, all tasks waiting on it are executed
    1359. 

  1359. during next scheduling pass. Tasks waiting via <B>waitFor</B>()
    1360. 

  1360. method are executed immediately. Tasks waiting via <B>waitForDelayed</B>()
    1361. 

  1361. method are activated, but executed after current or supplied interval
    1362. 

  1362. delay. 
    1363. 

  1363. </P>
    1364. 

  1364. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1365. 

  1365. aStatusRequest</B> should be “activated” by calling <B>setWaiting()
    1366. 

  1366. </B>method before making a task wait on it. Otherwise, the task will
    1367. 

  1367. execute immediately. 
    1368. 

  1368. </P>
    1369. 

  1369. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1370. 

  1370. sequence of events to use Status Request object is as follows:</P>
    1371. 

  1371. <OL>
    1372. 

  1372. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Create a status
    1373. 

  1373. 	request object</P>
    1374. 

  1374. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Activate status
    1375. 

  1375. 	request object (calling its <B>setWaiting</B>() method)</P>
    1376. 

  1376. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Set up tasks to
    1377. 

  1377. 	wait of the event completion</P>
    1378. 

  1378. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Signal completion
    1379. 

  1379. 	of event(s)</P>
    1380. 

  1380. </OL>
    1381. 

  1381. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1382. 

  1382. </P>
    1383. 

  1383. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1384. 

  1384. </P>
    1385. 

  1385. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
    1386. 

  1386. getStatusRequest()</B></P>
    1387. 

  1387. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1388. 

  1388. a StatusReqeust object this Task was waiting on. 
    1389. 

  1389. </P>
    1390. 

  1390. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1391. 

  1391. </P>
    1392. 

  1392. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1393. 

  1393. </P>
    1394. 

  1394. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1395. 

  1395. <B>TASK ID, CONTROL POINTS METHODS:</B></P>
    1396. 

  1396. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1397. 

  1397. <BR>
    1398. 

  1398. </P>
    1399. 

  1399. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1400. 

  1400. <B>void setId(unsigned int aID);</B></P>
    1401. 

  1401. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1402. 

  1402. <BR>
    1403. 

  1403. </P>
    1404. 

  1404. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1405. 

  1405. compiled with support for Task IDs, this method will set the task ID
    1406. 

  1406. explicitly. 
    1407. 

  1407. </P>
    1408. 

  1408. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Calling
    1409. 

  1409. this method is not necessary as task IDs are assigned automatically
    1410. 

  1410. during task creation: 1, 2, 3, …</P>
    1411. 

  1411. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1412. 

  1412. </P>
    1413. 

  1413. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1414. 

  1414. <B>unsigned int getId();</B></P>
    1415. 

  1415. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1416. 

  1416. <BR>
    1417. 

  1417. </P>
    1418. 

  1418. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1419. 

  1419. compiled with support for Task IDs, this method return current task’s
    1420. 

  1420. ID.</P>
    1421. 

  1421. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1422. 

  1422. </P>
    1423. 

  1423. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1424. 

  1424. <B>void setControlPoint (unsigned int aPoint);</B></P>
    1425. 

  1425. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1426. 

  1426. <BR>
    1427. 

  1427. </P>
    1428. 

  1428. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1429. 

  1429. compiled with support for Task IDs, this method will set a control
    1430. 

  1430. point in the task’s code. Control points are similar to “try…catch”
    1431. 

  1431. blocks, with control point ID specifying where in the code the “try”
    1432. 

  1432. part started, and a mechanism like watchdog timer providing the
    1433. 

  1433. “catch” functionality.</P>
    1434. 

  1434. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1435. 

  1435. </P>
    1436. 

  1436. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1437. 

  1437. <B>unsigned int getControlPoint()</B></P>
    1438. 

  1438. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1439. 

  1439. <BR>
    1440. 

  1440. </P>
    1441. 

  1441. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1442. 

  1442. If compiled with support for Task IDs, this method will return
    1443. 

  1443. currently set control point for this task.</P>
    1444. 

  1444. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1445. 

  1445. <BR>
    1446. 

  1446. </P>
    1447. 

  1447. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1448. 

  1448. <BR>
    1449. 

  1449. </P>
    1450. 

  1450. <P CLASS="western" STYLE="margin-bottom: 0in"><B>LOCAL TASK STORAGE
    1451. 

  1451. METHODS:</B></P>
    1452. 

  1452. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1453. 

  1453. <BR>
    1454. 

  1454. </P>
    1455. 

  1455. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1456. 

  1456. <B>void setLtsPointer(void *aPtr);</B></P>
    1457. 

  1457. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1458. 

  1458. <BR>
    1459. 

  1459. </P>
    1460. 

  1460. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1461. 

  1461. compiled with support for LTS, this method will set the task's local
    1462. 

  1462. storage pointer.</P>
    1463. 

  1463. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1464. 

  1464. </P>
    1465. 

  1465. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1466. 

  1466. <B>void *getLtsPointer();</B></P>
    1467. 

  1467. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1468. 

  1468. <BR>
    1469. 

  1469. </P>
    1470. 

  1470. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1471. 

  1471. compiled with support for LTS, this method will return reference to
    1472. 

  1472. the task's local storage.</P>
    1473. 

  1473. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1474. 

  1474. </B>the value returned has type (void *), and needs to be re-cast
    1475. 

  1475. into appropriate pointer type. Please refer to example sketches for
    1476. 

  1476. implementation options. 
    1477. 

  1477. </P>
    1478. 

  1478. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1479. 

  1479. </P>
    1480. 

  1480. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1481. 

  1481. </P>
    1482. 

  1482. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1483. 

  1483. <BR>
    1484. 

  1484. </P>
    1485. 

  1485. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1486. 

  1486. <FONT SIZE=4><B>TASK SCHEDULER:</B></FONT></P>
    1487. 

  1487. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1488. 

  1488. <BR>
    1489. 

  1489. </P>
    1490. 

  1490. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1491. 

  1491. <B>CREATION:</B></P>
    1492. 

  1492. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1493. 

  1493. <BR>
    1494. 

  1494. </P>
    1495. 

  1495. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler()</B><BR><BR>
    1496. 

  1496. </P>
    1497. 

  1497. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    1498. 

  1498. constructor. 
    1499. 

  1499. </P>
    1500. 

  1500. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    1501. 

  1501. no parameters. Creates task scheduler with default parameters and an
    1502. 

  1502. empty task queue. 
    1503. 

  1503. </P>
    1504. 

  1504. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1505. 

  1505. </P>
    1506. 

  1506. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void init()</B></P>
    1507. 

  1507. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1508. 

  1508. </P>
    1509. 

  1509. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Initializes
    1510. 

  1510. the task queue and scheduler parameters, Executed as part of
    1511. 

  1511. constructor, so don't need to be explicitly called after creation.</P>
    1512. 

  1512. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1513. 

  1513. </B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1514. 

  1514. enabled) scheduler is allowed to put processor to IDLE sleep mode. If
    1515. 

  1515. this behavior was changed via <B>allowSleep()</B> method, <B>inti()
    1516. 

  1516. </B>will <B>NOT</B> reset allow sleep particular parameter. 
    1517. 

  1517. </P>
    1518. 

  1518. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    1519. 

  1519. addTask(Task&amp; aTask)</B></P>
    1520. 

  1520. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1521. 

  1521. </P>
    1522. 

  1522. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Adds
    1523. 

  1523. task aTask to the execution queue (or chain) of tasks by appending it
    1524. 

  1524. to the end of the chain. If two tasks are scheduled for execution,
    1525. 

  1525. the sequence will match the order in which tasks were appended to the
    1526. 

  1526. chain. However, in reality, due to different timing of task
    1527. 

  1527. execution, the actual order may be different. 
    1528. 

  1528. </P>
    1529. 

  1529. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1530. 

  1530. </B>Currently, changing the execution sequence in a chain dynamically
    1531. 

  1531. is not supported. 
    1532. 

  1532. </P>
    1533. 

  1533. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1534. 

  1534. you need to reorder the chain sequence – initialize the scheduler
    1535. 

  1535. and re-add the tasks in a different order. 
    1536. 

  1536. </P>
    1537. 

  1537. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    1538. 

  1538. deleteTask(Task&amp; aTask)</B></P>
    1539. 

  1539. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1540. 

  1540. </P>
    1541. 

  1541. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Deletes
    1542. 

  1542. task aTask from the execution chain. The chain of remaining tasks is
    1543. 

  1543. linked together (i.e</P>
    1544. 

  1544. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">if
    1545. 

  1545. original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
    1546. 

  1546. 1 → 2 → 4).</P>
    1547. 

  1547. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1548. 

  1548. </B>it is not required to delete a task from the chain. A disabled
    1549. 

  1549. task will not be executed anyway, but you save a few microseconds per
    1550. 

  1550. scheduling pass by deleting it, since it is not even considered for
    1551. 

  1551. execution. 
    1552. 

  1552. </P>
    1553. 

  1553. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">An
    1554. 

  1554. example of proper use of this method would be running some sort of
    1555. 

  1555. <B>initialize</B> task in the chain, and then deleting it from the
    1556. 

  1556. chain since it only needs to run once. 
    1557. 

  1557. </P>
    1558. 

  1558. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1559. 

  1559. </P>
    1560. 

  1560. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
    1561. 

  1561. aState) </B>
    1562. 

  1562. </P>
    1563. 

  1563. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1564. 

  1564. </P>
    1565. 

  1565. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Available
    1566. 

  1566. in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1567. 

  1567. enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
    1568. 

  1568. or not (<B>aState =false</B>) to put processor into IDLE sleep mode
    1569. 

  1569. in case not tasks are scheduled to run.</P>
    1570. 

  1570. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1571. 

  1571. <B>default</B> behavior of scheduler upon creation is to allow sleep
    1572. 

  1572. mode. 
    1573. 

  1573. </P>
    1574. 

  1574. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void enableAll()</B></P>
    1575. 

  1575. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void disableAll()</B></P>
    1576. 

  1576. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1577. 

  1577. </P>
    1578. 

  1578. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">enables
    1579. 

  1579. and disables (respectively) all tasks in the chain. Convenient if
    1580. 

  1580. your need to enable/disable majority of the tasks (i.e. disable all
    1581. 

  1581. and then enable one). 
    1582. 

  1582. </P>
    1583. 

  1583. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1584. 

  1584. <BR><B>Task&amp; currentTask()<BR></B><BR>
    1585. 

  1585. </P>
    1586. 

  1586. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1587. 

  1587. reference to the task, currently executing via <B>execute()</B> loop
    1588. 

  1588. <B>OR </B>for OnEnable and OnDisable methods, reference to the task
    1589. 

  1589. being enabled or disabled. 
    1590. 

  1590. </P>
    1591. 

  1591. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">This
    1592. 

  1592. distinction is important because one task can activate the other, and
    1593. 

  1593. OnEnable should be referring to the task being enabled, not being
    1594. 

  1594. executed. 
    1595. 

  1595. </P>
    1596. 

  1596. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Could
    1597. 

  1597. be used by callback methods to identify which Task actually invoked
    1598. 

  1598. this callback method.</P>
    1599. 

  1599. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1600. 

  1600. </P>
    1601. 

  1601. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1602. 

  1602. <B>void* currentLts()<BR></B><BR>
    1603. 

  1603. </P>
    1604. 

  1604. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1605. 

  1605. pointer to Local Task Storage of the task, currently executing via
    1606. 

  1606. <B>execute()</B> loop <B>OR </B>for OnEnable and OnDisable methods,
    1607. 

  1607. task being enabled or disabled. 
    1608. 

  1608. </P>
    1609. 

  1609. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void execute()</B></P>
    1610. 

  1610. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1611. 

  1611. </P>
    1612. 

  1612. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Executes
    1613. 

  1613. one scheduling pass, including end-of-pass sleep. This method is
    1614. 

  1614. typically placed inside the <B>loop()</B> method of the sketch. Since
    1615. 

  1615. <B>execute</B> exits after every pass, you can put additional
    1616. 

  1616. statements after <B>execute</B> inside the <B>loop().</B></P>
    1617. 

  1617. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Generally,
    1618. 

  1618. execute will perform the following steps:</P>
    1619. 

  1619. <OL>
    1620. 

  1620. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Ignore task
    1621. 

  1621. 	completely if it is disabled.</P>
    1622. 

  1622. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Disable task if it
    1623. 

  1623. 	ran out of iterations (calling OnDesable, if necessary).</P>
    1624. 

  1624. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Check if task is
    1625. 

  1625. 	waiting on a StatusRequest object, and make appropriate scheduling
    1626. 

  1626. 	arrangements</P>
    1627. 

  1627. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Perform necessary
    1628. 

  1628. 	timing calculations</P>
    1629. 

  1629. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Invoke task's
    1630. 

  1630. 	callback method, if it is time to do so, and one is provided. 
    1631. 

  1631. 	</P>
    1632. 

  1632. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Put
    1633. 

  1633. 	microcontroller to sleep (if requested and supported) if none of the
    1634. 

  1634. 	tasks were invoked. 
    1635. 

  1635. 	</P>
    1636. 

  1636. </OL>
    1637. 

  1637. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1638. 

  1638. </P>
    1639. 

  1639. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Please
    1640. 

  1640. NOTE:</B> schedule-related calculations are performed prior to task's
    1641. 

  1641. callback method invocation. This allows tasks to manipulate their
    1642. 

  1642. runtime parameters (like execution interval) directly.</P>
    1643. 

  1643. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1644. 

  1644. </P>
    1645. 

  1645. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool isOverrun()</B></P>
    1646. 

  1646. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1647. 

  1647. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1648. 

  1648. enabled, this method returns <B>true</B> if currently invoked task
    1649. 

  1649. has overrun its scheduled start time when it was invoked. Returns
    1650. 

  1650. <B>false</B> if task has been invoked according to schedule.</P>
    1651. 

  1651. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1652. 

  1652. </P>
    1653. 

  1653. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1654. 

  1654. </P>
    1655. 

  1655. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1656. 

  1656. <B>STATUS REQUEST:</B></P>
    1657. 

  1657. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1658. 

  1658. <BR>
    1659. 

  1659. </P>
    1660. 

  1660. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1661. 

  1661. <B>CREATION:</B></P>
    1662. 

  1662. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1663. 

  1663. <BR>
    1664. 

  1664. </P>
    1665. 

  1665. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
    1666. 

  1666. </P>
    1667. 

  1667. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    1668. 

  1668. constructor. 
    1669. 

  1669. </P>
    1670. 

  1670. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    1671. 

  1671. no parameters. Creates Status Request object, which is assigned a
    1672. 

  1672. status of “completed” on creation. 
    1673. 

  1673. </P>
    1674. 

  1674. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1675. 

  1675. </P>
    1676. 

  1676. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1677. 

  1677. setWaiting(unsigned int aCount = 1)</B></P>
    1678. 

  1678. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Activates
    1679. 

  1679. Status Request object. By default each object is set to wait on one
    1680. 

  1680. event only, however, if <B>aCount</B> is supplied, Status Request can
    1681. 

  1681. wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
    1682. 

  1682. on three signals. An example could be waiting for completion of
    1683. 

  1683. measurements from 3 sensors. 
    1684. 

  1684. </P>
    1685. 

  1685. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1686. 

  1686. </P>
    1687. 

  1687. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signal(int
    1688. 

  1688. aStatus)</B></P>
    1689. 

  1689. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
    1690. 

  1690. completion of the event to the Status Request object, and passes a
    1691. 

  1691. completion code, which could be interrogated later. 
    1692. 

  1692. </P>
    1693. 

  1693. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1694. 

  1694. </B> passing a <B>negative</B> status code to the status request
    1695. 

  1695. object is considered reporting an error condition, and will complete
    1696. 

  1696. the status request regardless of how many outstanding signals it is
    1697. 

  1697. still waiting for. 
    1698. 

  1698. </P>
    1699. 

  1699. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B>:
    1700. 

  1700. only the latest status code is kept.</P>
    1701. 

  1701. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1702. 

  1702. </P>
    1703. 

  1703. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
    1704. 

  1704. (int aStatus)</B></P>
    1705. 

  1705. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
    1706. 

  1706. completion of <B>ALL</B> events to the Status Request object, and
    1707. 

  1707. passes a completion code, which could be interrogated later. The
    1708. 

  1708. status request completes regardless of how many events it is still
    1709. 

  1709. waiting on. 
    1710. 

  1710. </P>
    1711. 

  1711. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1712. 

  1712. </P>
    1713. 

  1713. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
    1714. 

  1714. </P>
    1715. 

  1715. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1716. 

  1716. <B>true</B> if status request is still waiting for event or events to
    1717. 

  1717. happen.</P>
    1718. 

  1718. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1719. 

  1719. </P>
    1720. 

  1720. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
    1721. 

  1721. </P>
    1722. 

  1722. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1723. 

  1723. <B>true</B> if status has completed.</P>
    1724. 

  1724. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1725. 

  1725. </P>
    1726. 

  1726. <P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
    1727. 

  1727. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1728. 

  1728. the status code passed to the status request object by the <B>signal()
    1729. 

  1729. </B>and <B>signalComplete() </B>methods. 
    1730. 

  1730. </P>
    1731. 

  1731. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
    1732. 

  1732. <B>positive</B> number is considered a successful completion status.</P>
    1733. 

  1733. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">A
    1734. 

  1734. 0 (zero) is considered a default successful completion status.</P>
    1735. 

  1735. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
    1736. 

  1736. <B>negative</B> number is considered an error code and unsuccessful
    1737. 

  1737. completion of a request.</P>
    1738. 

  1738. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1739. 

  1739. </P>
    1740. 

  1740. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1741. 

  1741. </P>
    1742. 

  1742. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1743. 

  1743. </P>
    1744. 

  1744. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1745. 

  1745. <B>CONSTANTS:</B></P>
    1746. 

  1746. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1747. 

  1747. </P>
    1748. 

  1748. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1749. 

  1749. <B>TASK_SECOND	(1000)</B></P>
    1750. 

  1750. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1751. 

  1751. interval of 1 second</P>
    1752. 

  1752. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1753. 

  1753. </P>
    1754. 

  1754. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1755. 

  1755. <B>TASK_MINUTE	(60000)</B></P>
    1756. 

  1756. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1757. 

  1757. interval of 1 minute</P>
    1758. 

  1758. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1759. 

  1759. </P>
    1760. 

  1760. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1761. 

  1761. <B>TASK_HOUR		(3600000)</B></P>
    1762. 

  1762. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1763. 

  1763. interval of 1 hour</P>
    1764. 

  1764. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1765. 

  1765. <B>TASK_FOREVER	(-1)</B></P>
    1766. 

  1766. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1767. 

  1767. number of iterations for infinite number of iterations</P>
    1768. 

  1768. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1769. 

  1769. </P>
    1770. 

  1770. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1771. 

  1771. <B>TASK_ONCE		(1)</B></P>
    1772. 

  1772. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1773. 

  1773. single iteration</P>
    1774. 

  1774. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1775. 

  1775. </P>
    1776. 

  1776. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1777. 

  1777. <B>TASK_IMMEDIATE	(0)</B></P>
    1778. 

  1778. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1779. 

  1779. interval for immediate execution</P>
    1780. 

  1780. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1781. 

  1781. </P>
    1782. 

  1782. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1783. 

  1783. </P>
    1784. 

  1784. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-before: always; page-break-after: avoid">
    1785. 

  1785. <B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
    1786. 

  1786. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1787. 

  1787. </P>
    1788. 

  1788. <OL>
    1789. 

  1789. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><B>EVENT DRIVEN
    1790. 

  1790. 	PROGRAMMING</B></P>
    1791. 

  1791. </OL>
    1792. 

  1792. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1793. 

  1793. </P>
    1794. 

  1794. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
    1795. 

  1795. of your application becomes a separate and distinct programming area,
    1796. 

  1796. which may or may not interact and control each other. 
    1797. 

  1797. </P>
    1798. 

  1798. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1799. 

  1799. </P>
    1800. 

  1800. <P CLASS="western" STYLE="margin-bottom: 0in">Example: 
    1801. 

  1801. </P>
    1802. 

  1802. <P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
    1803. 

  1803. system you need to measure soil humidity, control pump and display
    1804. 

  1804. the results</P>
    1805. 

  1805. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
    1806. 

  1806. becomes a task:</P>
    1807. 

  1807. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1808. 

  1808. </P>
    1809. 

  1809. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1810. 

  1810. <B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, TASK_FOREVER,
    1811. 

  1811. &amp;measureCallback);<BR>Task <B>tWater</B>  
    1812. 

  1812. (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
    1813. 

  1813. <B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, TASK_FOREVER,
    1814. 

  1814. &amp;displayCallback); <BR></FONT></FONT><BR>
    1815. 

  1815. </P>
    1816. 

  1816. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1817. 

  1817. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>taskManager</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>;</FONT></FONT><BR><BR>
    1818. 

  1818. </P>
    1819. 

  1819. <P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
    1820. 

  1820. on the pump, you keep it running for TWATER_INTERVAL interval and
    1821. 

  1821. then turn it off. Turning off a pump is also a task which only needs
    1822. 

  1822. to run once for every time the pump is turned on:</P>
    1823. 

  1823. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1824. 

  1824. </P>
    1825. 

  1825. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1826. 

  1826. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
    1827. 

  1827. (WATERTIME*SECOND, TASK_ONCE,</FONT></FONT><FONT FACE="Courier New, monospace">
    1828. 

  1828. &amp;waterOffCallback);</FONT><BR><BR>
    1829. 

  1829. </P>
    1830. 

  1830. <P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
    1831. 

  1831. method:</P>
    1832. 

  1832. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1833. 

  1833. </P>
    1834. 

  1834. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1835. 

  1835. waterOffCallback() {<BR>    motorOff();<BR>   
    1836. 

  1836. tWater.enableDelayed();<BR>}</FONT></FONT></P>
    1837. 

  1837. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1838. 

  1838. </P>
    1839. 

  1839. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
    1840. 

  1840. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1841. 

  1841. </P>
    1842. 

  1842. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1843. 

  1843. waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
    1844. 

  1844. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1845. 

  1845. If this is not the last iteration = turn the pump on<BR>     
    1846. 

  1846. motorOn();<BR>      tWaterOff.set(parameters.watertime * TASK_SECOND,
    1847. 

  1847. TASK_ONCE, &amp;waterOffCallback);<BR>     
    1848. 

  1848. tWaterOff.enableDelayed();<BR>      return;<BR>    }</FONT></FONT></P>
    1849. 

  1849. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1850. 

  1850. We could not reach target humidity – something is wrong<BR>   
    1851. 

  1851. motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
    1852. 

  1852. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1853. 

  1853. </P>
    1854. 

  1854. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
    1855. 

  1855. sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
    1856. 

  1856. </P>
    1857. 

  1857. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1858. 

  1858. </B>please note that tWater is <B>not</B> activated during setup().
    1859. 

  1859. It is activated by tMeasure callback once the watering conditions are
    1860. 

  1860. met. </FONT>
    1861. 

  1861. </P>
    1862. 

  1862. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1863. 

  1863. </P>
    1864. 

  1864. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=2><FONT FACE="Times New Roman, serif">	void
    1865. 

  1865. </FONT><FONT FACE="Courier New, monospace">setup()</FONT></FONT></P>
    1866. 

  1866. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	
    1867. 

  1867.  ...</FONT></FONT></P>
    1868. 

  1868. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1869. 

  1869. <FONT SIZE=2><FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
    1870. 

  1870.  tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
    1871. 

  1871. taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
    1872. 

  1872. taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
    1873. 

  1873. taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
    1874. 

  1874. tDisplay.enable();<BR><BR>  currentHumidity =
    1875. 

  1875. measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
    1876. 

  1876. taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT></FONT><BR>
    1877. 

  1877. </P>
    1878. 

  1878. <OL START=2>
    1879. 

  1879. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">“<FONT FACE="Times New Roman, serif"><B>NATIVE”
    1880. 

  1880. 	SUPPORT FOR FINITE STATE MACHINE</B></FONT></P>
    1881. 

  1881. </OL>
    1882. 

  1882. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1883. 

  1883. </P>
    1884. 

  1884. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
    1885. 

  1885. “states” as callback method or methods. Each callback method
    1886. 

  1886. executes activities specific to a “state” and then “transitions”
    1887. 

  1887. to the next state by assigning next callback method to the task. </FONT>
    1888. 

  1888. </P>
    1889. 

  1889. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
    1890. 

  1890. from one state to the next is achieved by setting next callback
    1891. 

  1891. method at the end of preceding one. </FONT>
    1892. 

  1892. </P>
    1893. 

  1893. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1894. 

  1894. </B>do not call the next callback method explicitly. Yield to the
    1895. 

  1895. scheduler, and let the scheduler take care of next iteration during
    1896. 

  1896. the next pass. (Thus giving other tasks change to run their callback
    1897. 

  1897. methods). </FONT>
    1898. 

  1898. </P>
    1899. 

  1899. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1900. 

  1900. </P>
    1901. 

  1901. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1902. 

  1902. Blinking LED 2 times a second could be achieved this way</FONT></P>
    1903. 

  1903. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1904. 

  1904. </P>
    1905. 

  1905. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1906. 

  1906. ts;</FONT></FONT></P>
    1907. 

  1907. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1908. 

  1908. tLedBlinker (500, TASK_FOREVER, &amp;ledOnCallback, &amp;ts, true);</FONT></FONT></P>
    1909. 

  1909. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1910. 

  1910. </P>
    1911. 

  1911. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1912. 

  1912.  ledOnCallback() {</FONT></FONT></P>
    1913. 

  1913. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOn();</FONT></FONT></P>
    1914. 

  1914. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOffCallback);</FONT></FONT></P>
    1915. 

  1915. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1916. 

  1916. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1917. 

  1917. </P>
    1918. 

  1918. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1919. 

  1919.  ledOffCallback() {</FONT></FONT></P>
    1920. 

  1920. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOff();</FONT></FONT></P>
    1921. 

  1921. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOnCallback);</FONT></FONT></P>
    1922. 

  1922. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1923. 

  1923. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1924. 

  1924. </P>
    1925. 

  1925. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>setup()
    1926. 

  1926. {</FONT></FONT></P>
    1927. 

  1927. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1928. 

  1928. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1929. 

  1929. </P>
    1930. 

  1930. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>loop
    1931. 

  1931. () {</FONT></FONT></P>
    1932. 

  1932. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	ts.execute();</FONT></FONT></P>
    1933. 

  1933. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
    1934. 

  1934. </P>
    1935. 

  1935. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
    1936. 

  1936. the example is simple, but gives the idea of how the tasks could be
    1937. 

  1937. used to go through states.</FONT></P>
    1938. 

  1938. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1939. 

  1939. </P>
    1940. 

  1940. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1941. 

  1941. </P>
    1942. 

  1942. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1943. 

  1943. </P>
    1944. 

  1944. <OL START=3>
    1945. 

  1945. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>MULTIPLE
    1946. 

  1946. 	POSSIBLE CALLBACKS FOR TASK</B></FONT></P>
    1947. 

  1947. </OL>
    1948. 

  1948. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1949. 

  1949. </P>
    1950. 

  1950. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
    1951. 

  1951. may be a need to select an option for callback method based on
    1952. 

  1952. certain criteria, or randomly. </FONT>
    1953. 

  1953. </P>
    1954. 

  1954. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1955. 

  1955. can achieve that by defining an array of callback method pointers and
    1956. 

  1956. selecting one based on the criteria you need. </FONT>
    1957. 

  1957. </P>
    1958. 

  1958. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1959. 

  1959. when a robot detects an obstacle, it may go left, right backwards,
    1960. 

  1960. etc. Each of the “directions” or “behaviors” are represented
    1961. 

  1961. by a different callback methods. </FONT>
    1962. 

  1962. </P>
    1963. 

  1963. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1964. 

  1964. </P>
    1965. 

  1965. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
    1966. 

  1966. example of using multiple callbacks:</FONT></P>
    1967. 

  1967. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1968. 

  1968. may need to “initialize” variables for a particular task.</FONT></P>
    1969. 

  1969. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1970. 

  1970. this case, define a tasks with two callbacks:</FONT></P>
    1971. 

  1971. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1972. 

  1972. </P>
    1973. 

  1973. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1974. 

  1974. <B>tWork</B> (T_INTERVAL, TASK_FOREVER, &amp;workCallbackInit);</FONT></FONT></P>
    1975. 

  1975. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">…</P>
    1976. 

  1976. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1977. 

  1977. </P>
    1978. 

  1978. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1979. 

  1979.  workCallbackInit() {</FONT></FONT></P>
    1980. 

  1980. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1981. 

  1981. do your initializationstuff here</FONT></FONT></P>
    1982. 

  1982. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    1983. 

  1983. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1984. 

  1984. finally assigne the main callback method </FONT></FONT>
    1985. 

  1985. </P>
    1986. 

  1986. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.setCallback(&amp;workCallback);</FONT></FONT></P>
    1987. 

  1987. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1988. 

  1988. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1989. 

  1989. </P>
    1990. 

  1990. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1991. 

  1991. workCallback() {</FONT></FONT></P>
    1992. 

  1992. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1993. 

  1993. main callback method</FONT></FONT></P>
    1994. 

  1994. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</FONT></FONT></P>
    1995. 

  1995. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1996. 

  1996. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1997. 

  1997. </P>
    1998. 

  1998. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1999. 

  1999. task will initialize during first execution pass and switch to
    2000. 

  2000. “regular” callback execution starting with second pass. There is
    2001. 

  2001. a delay between first and second passes of the task (scheduling
    2002. 

  2002. period, if defined). In order to execute the second pass immediately
    2003. 

  2003. after initialization first pass, change the above code like this:</FONT></P>
    2004. 

  2004. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2005. 

  2005. </P>
    2006. 

  2006. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2007. 

  2007.  workCallbackInit() {</FONT></FONT></P>
    2008. 

  2008. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    2009. 

  2009. do your initializationstuff here</FONT></FONT></P>
    2010. 

  2010. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    2011. 

  2011. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    2012. 

  2012. finally assigne the main callback method </FONT></FONT>
    2013. 

  2013. </P>
    2014. 

  2014. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.setCallback(&amp;workCallback);</FONT></FONT></P>
    2015. 

  2015. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
    2016. 

  2016. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2017. 

  2017. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2018. 

  2018. </P>
    2019. 

  2019. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    2020. 

  2020. task will run initialization first, then immediately second pass, and
    2021. 

  2021. then switch to processing at regular intervals starting with a third
    2022. 

  2022. pass. </FONT>
    2023. 

  2023. </P>
    2024. 

  2024. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2025. 

  2025. </P>
    2026. 

  2026. <OL START=3>
    2027. 

  2027. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN
    2028. 

  2028. 	EXECUTION SUPPORT </B></FONT>
    2029. 

  2029. 	</P>
    2030. 

  2030. </OL>
    2031. 

  2031. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2032. 

  2032. </P>
    2033. 

  2033. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    2034. 

  2034. case of interrupt-driven program flow, tasks could be scheduled to
    2035. 

  2035. run once to request asynchronous execution (request), and then
    2036. 

  2036. re-enabled (restarted) again with a different callback method to
    2037. 

  2037. process the results. </FONT>
    2038. 

  2038. </P>
    2039. 

  2039. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2040. 

  2040. </P>
    2041. 

  2041. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Example</B>:
    2042. 

  2042. event driven distance calculation for ultrasonic pulses. EchoPin #6
    2043. 

  2043. triggers pin change interrupts on rising and falling edges to
    2044. 

  2044. determine the length of ultrasonic pulse.</FONT></P>
    2045. 

  2045. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2046. 

  2046. </P>
    2047. 

  2047. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2048. 

  2048. &lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
    2049. 

  2049. &lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
    2050. 

  2050. ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
    2051. 

  2051. pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
    2052. 

  2052. r;<BR><BR>Task  tMeasure(TASK_SECOND, TASK_FOREVER, &amp;measureCallback,
    2053. 

  2053. &amp;r, true);<BR>Task  tDisplay(TASK_SECOND, TASK_FOREVER,
    2054. 

  2054. &amp;displayCallback, &amp;r, true);<BR>Task  tPing(TASK_IMMEDIATE,
    2055. 

  2055. TASK_ONCE, &amp;pingCalcCallback, &amp;r, false);<BR><BR><BR>volatile
    2056. 

  2056. bool pulseBusy = false;<BR>volatile bool pulseTimeout =
    2057. 

  2057. false;<BR>volatile unsigned long pulseStart = 0;<BR>volatile unsigned
    2058. 

  2058. long pulseStop = 0;<BR>volatile unsigned long pingDistance =
    2059. 

  2059. 0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout) {<BR>  if
    2060. 

  2060. (pulseBusy) return;  // do not trigger if in the middle of a pulse<BR>
    2061. 

  2061.  if (pEcho == HIGH) return; // do not trigger if ECHO pin is high<BR>
    2062. 

  2062.  <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
    2063. 

  2063. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
    2064. 

  2064.  pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
    2065. 

  2065.  tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
    2066. 

  2066. pTrigger = LOW; <BR></FONT></FONT><BR>
    2067. 

  2067. </P>
    2068. 

  2068. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2069. 

  2069. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
    2070. 

  2070. // timeout countdown starts now<BR></FONT></FONT><BR>
    2071. 

  2071. </P>
    2072. 

  2072. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2073. 

  2073. will start the pulse clock on the rising edge of ECHO pin</FONT></FONT></P>
    2074. 

  2074. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2075. 

  2075. <FONT FACE="Courier New, monospace"><FONT SIZE=2>PCintPort::attachInterrupt(ECHOPIN,
    2076. 

  2076. &amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
    2077. 

  2077. </P>
    2078. 

  2078. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2079. 

  2079. Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
    2080. 

  2080. pingStartClock() {<BR>  pulseStart = micros();<BR> 
    2081. 

  2081. PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
    2082. 

  2082.  PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
    2083. 

  2083.  tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
    2084. 

  2084. edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
    2085. 

  2085. = micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
    2086. 

  2086. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2087. 

  2087. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
    2088. 

  2088. pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
    2089. 

  2089. // disable timeout<BR>}<BR></FONT></FONT><BR>
    2090. 

  2090. </P>
    2091. 

  2091. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2092. 

  2092. Stop clock because of the timeout – the wave did not return<BR>void
    2093. 

  2093. pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
    2094. 

  2094.  }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
    2095. 

  2095. callback sets the trigger<BR>void measureCallback() {<BR>  if
    2096. 

  2096. (pulseBusy) {  // already measuring, try again<BR>   
    2097. 

  2097. tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
    2098. 

  2098. milliseconds or max range of ~5.1 meters<BR> 
    2099. 

  2099. tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
    2100. 

  2100. </P>
    2101. 

  2101. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2102. 

  2102. Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
    2103. 

  2103. (pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
    2104. 

  2104. <BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
    2105. 

  2105.  char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
    2106. 

  2106. // cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
    2107. 

  2107. %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
    2108. 

  2108. cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
    2109. 

  2109. put your setup code here, to run once:<BR>  <BR> 
    2110. 

  2110. Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
    2111. 

  2111. LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
    2112. 

  2112. to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
    2113. 

  2113. </P>
    2114. 

  2114. <OL START=3>
    2115. 

  2115. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2116. 

  2116. 	ONENABLE AND ONDISBALE METHODS </B></FONT>
    2117. 

  2117. 	</P>
    2118. 

  2118. </OL>
    2119. 

  2119. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2120. 

  2120. </P>
    2121. 

  2121. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
    2122. 

  2122. a task to flash onboard LED for 5 seconds with random frequency. Task
    2123. 

  2123. should be repeated every 30 seconds indefinitely. Since frequency is
    2124. 

  2124. random, there are two challenges:</FONT></P>
    2125. 

  2125. <OL START=3>
    2126. 

  2126. 	<OL>
    2127. 

  2127. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    2128. 

  2128. 		need to make sure LED is turned OFF at the last iteration</FONT></P>
    2129. 

  2129. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    2130. 

  2130. 		need to calculate random frequency every time</FONT></P>
    2131. 

  2131. 	</OL>
    2132. 

  2132. </OL>
    2133. 

  2133. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2134. 

  2134. </P>
    2135. 

  2135. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Below
    2136. 

  2136. is the implementation using TaskScheduler </FONT>
    2137. 

  2137. </P>
    2138. 

  2138. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2139. 

  2139. </P>
    2140. 

  2140. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR></FONT></FONT><BR>
    2141. 

  2141. </P>
    2142. 

  2142. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2143. 

  2143. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    2144. 

  2144. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2145. 

  2145. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    2146. 

  2146. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2147. 

  2147. </P>
    2148. 

  2148. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2149. 

  2149.  LEDPIN    13</FONT></FONT></P>
    2150. 

  2150. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2151. 

  2151. </P>
    2152. 

  2152. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2153. 

  2153. </P>
    2154. 

  2154. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    2155. 

  2155. ts;</FONT></FONT></P>
    2156. 

  2156. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2157. 

  2157. </P>
    2158. 

  2158. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2159. 

  2159. tWrapper(30000, TASK_FOREVER, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
    2160. 

  2160. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2161. 

  2161. tBlink(5000, TASK_ONCE, NULL, &amp;ts, false, &amp;BlinkOnEnable,
    2162. 

  2162. &amp;BlinkOnDisable);</FONT></FONT></P>
    2163. 

  2163. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2164. 

  2164. tLED(TASK_IMMEDIATE, TASK_FOREVER, NULL, &amp;ts, false, NULL,
    2165. 

  2165. &amp;LEDOff);</FONT></FONT></P>
    2166. 

  2166. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2167. 

  2167. </P>
    2168. 

  2168. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2169. 

  2169. WrapperCallback() {</FONT></FONT></P>
    2170. 

  2170. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2171. 

  2171. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2172. 

  2172. WrapperCallback&quot;);</FONT></FONT></P>
    2173. 

  2173. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2174. 

  2174. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
    2175. 

  2175.   // LED blinking  is initiated </FONT></FONT>
    2176. 

  2176. </P>
    2177. 

  2177. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2178. 

  2178.             <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
    2179. 

  2179. 30 seconds for 5 seconds</FONT></FONT></P>
    2180. 

  2180. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2181. 

  2181. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2182. 

  2182. </P>
    2183. 

  2183. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2184. 

  2184. </P>
    2185. 

  2185. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2186. 

  2186. Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
    2187. 

  2187. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2188. 

  2188. and enable LED blinking task, which actually controls</FONT></FONT></P>
    2189. 

  2189. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2190. 

  2190. the hardware (LED in this example)</FONT></FONT></P>
    2191. 

  2191. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2192. 

  2192. BlinkOnEnable() {</FONT></FONT></P>
    2193. 

  2193. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2194. 

  2194. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2195. 

  2195. BlinkOnEnable&quot;);</FONT></FONT></P>
    2196. 

  2196. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2197. 

  2197. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
    2198. 

  2198. 500 + random(501) );</FONT></FONT></P>
    2199. 

  2199. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2200. 

  2200. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2201. 

  2201. &amp;LEDOn);</FONT></FONT></P>
    2202. 

  2202. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2203. 

  2203. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.enable();</FONT></FONT></P>
    2204. 

  2204. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2205. 

  2205. </P>
    2206. 

  2206. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2207. 

  2207. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
    2208. 

  2208. Task should be enabled</FONT></FONT></P>
    2209. 

  2209. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2210. 

  2210. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2211. 

  2211. </P>
    2212. 

  2212. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2213. 

  2213. tBlink does not really need a callback method</FONT></FONT></P>
    2214. 

  2214. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2215. 

  2215. since it just waits for 5 seconds for the first </FONT></FONT>
    2216. 

  2216. </P>
    2217. 

  2217. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2218. 

  2218. and only iteration to occur. Once the iteration</FONT></FONT></P>
    2219. 

  2219. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2220. 

  2220. takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
    2221. 

  2221. </P>
    2222. 

  2222. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2223. 

  2223. thus executing its OnDisable method below.</FONT></FONT></P>
    2224. 

  2224. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2225. 

  2225. </P>
    2226. 

  2226. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2227. 

  2227. BlinkOnDisable() {</FONT></FONT></P>
    2228. 

  2228. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2229. 

  2229. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2230. 

  2230. BlinkOnDisable&quot;);</FONT></FONT></P>
    2231. 

  2231. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2232. 

  2232. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
    2233. 

  2233. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2234. 

  2234. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2235. 

  2235. </P>
    2236. 

  2236. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2237. 

  2237. LEDOn () {</FONT></FONT></P>
    2238. 

  2238. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2239. 

  2239. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2240. 

  2240. LEDOn&quot;);</FONT></FONT></P>
    2241. 

  2241. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2242. 

  2242. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    2243. 

  2243. HIGH);</FONT></FONT></P>
    2244. 

  2244. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2245. 

  2245. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2246. 

  2246. &amp;LEDOff);</FONT></FONT></P>
    2247. 

  2247. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2248. 

  2248. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2249. 

  2249. </P>
    2250. 

  2250. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2251. 

  2251. LEDOff () {</FONT></FONT></P>
    2252. 

  2252. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2253. 

  2253. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2254. 

  2254. LEDOff&quot;);</FONT></FONT></P>
    2255. 

  2255. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2256. 

  2256. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    2257. 

  2257. LOW);</FONT></FONT></P>
    2258. 

  2258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2259. 

  2259. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2260. 

  2260. &amp;LEDOn);</FONT></FONT></P>
    2261. 

  2261. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2262. 

  2262. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2263. 

  2263. </P>
    2264. 

  2264. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2265. 

  2265. Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
    2266. 

  2266. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2267. 

  2267. to make sure the LED is turned off when the tBlink</FONT></FONT></P>
    2268. 

  2268. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2269. 

  2269. task finishes (or disabled ahead of time)</FONT></FONT></P>
    2270. 

  2270. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2271. 

  2271. </P>
    2272. 

  2272. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2273. 

  2273. setup() {</FONT></FONT></P>
    2274. 

  2274. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2275. 

  2275. </P>
    2276. 

  2276. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2277. 

  2277. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
    2278. 

  2278. </FONT></FONT>
    2279. 

  2279. </P>
    2280. 

  2280. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2281. 

  2281. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pinMode(LEDPIN,
    2282. 

  2282. OUTPUT); </FONT></FONT>
    2283. 

  2283. </P>
    2284. 

  2284. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2285. 

  2285. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2286. 

  2286. </P>
    2287. 

  2287. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2288. 

  2288. loop() {</FONT></FONT></P>
    2289. 

  2289. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2290. 

  2290. <FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
    2291. 

  2291. code here, to run repeatedly:</FONT></FONT></P>
    2292. 

  2292. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2293. 

  2293. </P>
    2294. 

  2294. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2295. 

  2295. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    2296. 

  2296. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2297. 

  2297. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2298. 

  2298. </P>
    2299. 

  2299. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2300. 

  2300. </P>
    2301. 

  2301. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2302. 

  2302. </P>
    2303. 

  2303. <OL START=3>
    2304. 

  2304. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2305. 

  2305. 	STATUS REQUEST OBJECTS  </B></FONT>
    2306. 

  2306. 	</P>
    2307. 

  2307. </OL>
    2308. 

  2308. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2309. 

  2309. </P>
    2310. 

  2310. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">This
    2311. 

  2311. test emulates querying 3 sensors once every 10 seconds, each could
    2312. 

  2312. respond with a different delay (ultrasonic sensors for instance) and
    2313. 

  2313. printing a min value of the three when all three have reported their
    2314. 

  2314. values.</FONT></FONT></P>
    2315. 

  2315. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2316. 

  2316. </P>
    2317. 

  2317. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">The
    2318. 

  2318. overall timeout of 1 second is setup as well.</FONT></FONT></P>
    2319. 

  2319. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">An
    2320. 

  2320. error message needs to be printed if a timeout occurred instead of a
    2321. 

  2321. value.</FONT></FONT></P>
    2322. 

  2322. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2323. 

  2323. </P>
    2324. 

  2324. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2325. 

  2325. </P>
    2326. 

  2326. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2327. 

  2327. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    2328. 

  2328. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2329. 

  2329. _TASK_STATUS_REQUEST</FONT></FONT></P>
    2330. 

  2330. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2331. 

  2331. </P>
    2332. 

  2332. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2333. 

  2333. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    2334. 

  2334. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2335. 

  2335. </P>
    2336. 

  2336. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
    2337. 

  2337. measure;</FONT></FONT></P>
    2338. 

  2338. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2339. 

  2339. </P>
    2340. 

  2340. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    2341. 

  2341. ts; </FONT></FONT>
    2342. 

  2342. </P>
    2343. 

  2343. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2344. 

  2344. </P>
    2345. 

  2345. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2346. 

  2346. tCycle(10000, TASK_FOREVER, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
    2347. 

  2347. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2348. 

  2348. tMeasure(TASK_SECOND, TASK_ONCE, &amp;MeasureCallback, &amp;ts,
    2349. 

  2349. false, &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
    2350. 

  2350. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2351. 

  2351. tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
    2352. 

  2352. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2353. 

  2353. tSensor1(TASK_IMMEDIATE, TASK_ONCE, &amp;S1Callback, &amp;ts, false,
    2354. 

  2354. &amp;S1Enable);</FONT></FONT></P>
    2355. 

  2355. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2356. 

  2356. tSensor2(TASK_IMMEDIATE, TASK_ONCE, &amp;S2Callback, &amp;ts, false,
    2357. 

  2357. &amp;S2Enable);</FONT></FONT></P>
    2358. 

  2358. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2359. 

  2359. tSensor3(TASK_IMMEDIATE, TASK_ONCE, &amp;S3Callback, &amp;ts, false,
    2360. 

  2360. &amp;S3Enable);</FONT></FONT></P>
    2361. 

  2361. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2362. 

  2362. </P>
    2363. 

  2363. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2364. 

  2364. </P>
    2365. 

  2365. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
    2366. 

  2366. distance, d1, d2, d3;</FONT></FONT></P>
    2367. 

  2367. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2368. 

  2368. </P>
    2369. 

  2369. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2370. 

  2370. CycleCallback() {</FONT></FONT></P>
    2371. 

  2371. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2372. 

  2372. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
    2373. 

  2373. Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></P>
    2374. 

  2374. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2375. 

  2375. </P>
    2376. 

  2376. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2377. 

  2377. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
    2378. 

  2378. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2379. 

  2379. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2380. 

  2380. </P>
    2381. 

  2381. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2382. 

  2382. </P>
    2383. 

  2383. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2384. 

  2384. </P>
    2385. 

  2385. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2386. 

  2386. MeasureEnable() {</FONT></FONT></P>
    2387. 

  2387. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2388. 

  2388. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureEnable:
    2389. 

  2389. Activating sensors&quot;);  </FONT></FONT>
    2390. 

  2390. </P>
    2391. 

  2391. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2392. 

  2392. </P>
    2393. 

  2393. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2394. 

  2394. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</FONT></FONT></P>
    2395. 

  2395. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2396. 

  2396. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.setWaiting(3);
    2397. 

  2397. // Set the StatusRequest to wait for 3 signals. </FONT></FONT>
    2398. 

  2398. </P>
    2399. 

  2399. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2400. 

  2400. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
    2401. 

  2401. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2402. 

  2402. </P>
    2403. 

  2403. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2404. 

  2404. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
    2405. 

  2405. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2406. 

  2406. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
    2407. 

  2407. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2408. 

  2408. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</FONT></FONT></P>
    2409. 

  2409. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2410. 

  2410. </P>
    2411. 

  2411. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2412. 

  2412. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2413. 

  2413. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2414. 

  2414. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2415. 

  2415. </P>
    2416. 

  2416. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2417. 

  2417. MeasureCallback() {</FONT></FONT></P>
    2418. 

  2418. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2419. 

  2419. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    2420. 

  2420. Invoked by calculate task or one second later&quot;);  </FONT></FONT>
    2421. 

  2421. </P>
    2422. 

  2422. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2423. 

  2423. </P>
    2424. 

  2424. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2425. 

  2425. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if
    2426. 

  2426. (measure.pending()) {</FONT></FONT></P>
    2427. 

  2427. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2428. 

  2428.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
    2429. 

  2429. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2430. 

  2430.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
    2431. 

  2431.  // signal error</FONT></FONT></P>
    2432. 

  2432. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2433. 

  2433.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    2434. 

  2434. Timeout!&quot;);</FONT></FONT></P>
    2435. 

  2435. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2436. 

  2436. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2437. 

  2437. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2438. 

  2438. <FONT FACE="Courier New, monospace"><FONT SIZE=2>else {</FONT></FONT></P>
    2439. 

  2439. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2440. 

  2440.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
    2441. 

  2441. Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
    2442. 

  2442. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2443. 

  2443. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2444. 

  2444. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2445. 

  2445. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2446. 

  2446. </P>
    2447. 

  2447. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2448. 

  2448. MeasureDisable() {</FONT></FONT></P>
    2449. 

  2449. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2450. 

  2450. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
    2451. 

  2451. Cleaning up&quot;);  </FONT></FONT>
    2452. 

  2452. </P>
    2453. 

  2453. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2454. 

  2454. </P>
    2455. 

  2455. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2456. 

  2456. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</FONT></FONT></P>
    2457. 

  2457. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2458. 

  2458. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.disable();</FONT></FONT></P>
    2459. 

  2459. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2460. 

  2460. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
    2461. 

  2461. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2462. 

  2462. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2463. 

  2463. </P>
    2464. 

  2464. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2465. 

  2465. </P>
    2466. 

  2466. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2467. 

  2467. CalcCallback() {</FONT></FONT></P>
    2468. 

  2468. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2469. 

  2469. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
    2470. 

  2470. calculating&quot;);  </FONT></FONT>
    2471. 

  2471. </P>
    2472. 

  2472. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2473. 

  2473. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
    2474. 

  2474. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2475. 

  2475. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
    2476. 

  2476. measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
    2477. 

  2477. ended successfully</FONT></FONT></P>
    2478. 

  2478. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2479. 

  2479.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d1 &lt;
    2480. 

  2480. d2 ? d1 : d2;</FONT></FONT></P>
    2481. 

  2481. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2482. 

  2482.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
    2483. 

  2483. distance ? d3 : distance;</FONT></FONT></P>
    2484. 

  2484. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2485. 

  2485.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</FONT></FONT></P>
    2486. 

  2486. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2487. 

  2487. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2488. 

  2488. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2489. 

  2489. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2490. 

  2490. </P>
    2491. 

  2491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2492. 

  2492. </P>
    2493. 

  2493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2494. 

  2494. Simulation code for sensor 1</FONT></FONT></P>
    2495. 

  2495. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2496. 

  2496.  ----------------------------</FONT></FONT></P>
    2497. 

  2497. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2498. 

  2498. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2499. 

  2499. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2500. 

  2500. S1Enable() {</FONT></FONT></P>
    2501. 

  2501. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2502. 

  2502. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
    2503. 

  2503. Triggering sensor1. Delay=&quot;);  </FONT></FONT>
    2504. 

  2504. </P>
    2505. 

  2505. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2506. 

  2506. </P>
    2507. 

  2507. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2508. 

  2508. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
    2509. 

  2509. random(1200) );  // Simulating sensor delay, which could go over 1
    2510. 

  2510. second and cause timeout</FONT></FONT></P>
    2511. 

  2511. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2512. 

  2512. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
    2513. 

  2513. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2514. 

  2514. </P>
    2515. 

  2515. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2516. 

  2516. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    2517. 

  2517. tSensor1.getInterval() );</FONT></FONT></P>
    2518. 

  2518. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2519. 

  2519. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2520. 

  2520. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2521. 

  2521. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2522. 

  2522. </P>
    2523. 

  2523. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2524. 

  2524. S1Callback() {</FONT></FONT></P>
    2525. 

  2525. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2526. 

  2526. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
    2527. 

  2527. Emulating measurement. d1=&quot;);  </FONT></FONT>
    2528. 

  2528. </P>
    2529. 

  2529. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2530. 

  2530. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
    2531. 

  2531. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2532. 

  2532. measurement </FONT></FONT>
    2533. 

  2533. </P>
    2534. 

  2534. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2535. 

  2535. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    2536. 

  2536. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2537. 

  2537. </P>
    2538. 

  2538. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2539. 

  2539. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d1); </FONT></FONT>
    2540. 

  2540. </P>
    2541. 

  2541. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2542. 

  2542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2543. 

  2543. </P>
    2544. 

  2544. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2545. 

  2545. </P>
    2546. 

  2546. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2547. 

  2547. Simulation code for sensor 2</FONT></FONT></P>
    2548. 

  2548. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2549. 

  2549.  ----------------------------</FONT></FONT></P>
    2550. 

  2550. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2551. 

  2551. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2552. 

  2552. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2553. 

  2553. S2Enable() {</FONT></FONT></P>
    2554. 

  2554. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2555. 

  2555. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
    2556. 

  2556. Triggering sensor2. Delay=&quot;);  </FONT></FONT>
    2557. 

  2557. </P>
    2558. 

  2558. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2559. 

  2559. </P>
    2560. 

  2560. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2561. 

  2561. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
    2562. 

  2562. random(1200) );  // Simulating sensor delay, which could go over 1
    2563. 

  2563. second and cause timeout</FONT></FONT></P>
    2564. 

  2564. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2565. 

  2565. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</FONT></FONT></P>
    2566. 

  2566. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2567. 

  2567. </P>
    2568. 

  2568. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2569. 

  2569. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    2570. 

  2570. tSensor2.getInterval() );</FONT></FONT></P>
    2571. 

  2571. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2572. 

  2572. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2573. 

  2573. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2574. 

  2574. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2575. 

  2575. </P>
    2576. 

  2576. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2577. 

  2577. S2Callback() {</FONT></FONT></P>
    2578. 

  2578. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2579. 

  2579. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
    2580. 

  2580. Emulating measurement. d2=&quot;);  </FONT></FONT>
    2581. 

  2581. </P>
    2582. 

  2582. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2583. 

  2583. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
    2584. 

  2584. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2585. 

  2585. measurement</FONT></FONT></P>
    2586. 

  2586. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2587. 

  2587. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    2588. 

  2588. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2589. 

  2589. </P>
    2590. 

  2590. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2591. 

  2591. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d2); 
    2592. 

  2592. </FONT></FONT>
    2593. 

  2593. </P>
    2594. 

  2594. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2595. 

  2595. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2596. 

  2596. </P>
    2597. 

  2597. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2598. 

  2598. </P>
    2599. 

  2599. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2600. 

  2600. Simulation code for sensor 3</FONT></FONT></P>
    2601. 

  2601. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2602. 

  2602.  ----------------------------</FONT></FONT></P>
    2603. 

  2603. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2604. 

  2604. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2605. 

  2605. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2606. 

  2606. S3Enable() {</FONT></FONT></P>
    2607. 

  2607. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2608. 

  2608. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
    2609. 

  2609. Triggering sensor3. Delay=&quot;);  </FONT></FONT>
    2610. 

  2610. </P>
    2611. 

  2611. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2612. 

  2612. </P>
    2613. 

  2613. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2614. 

  2614. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
    2615. 

  2615. random(1200) );  // Simulating sensor delay, which could go over 1
    2616. 

  2616. second and cause timeout</FONT></FONT></P>
    2617. 

  2617. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2618. 

  2618. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></P>
    2619. 

  2619. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2620. 

  2620. </P>
    2621. 

  2621. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2622. 

  2622. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    2623. 

  2623. tSensor3.getInterval() );</FONT></FONT></P>
    2624. 

  2624. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2625. 

  2625. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2626. 

  2626. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2627. 

  2627. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2628. 

  2628. </P>
    2629. 

  2629. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2630. 

  2630. S3Callback() {</FONT></FONT></P>
    2631. 

  2631. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2632. 

  2632. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
    2633. 

  2633. Emulating measurement. d3=&quot;);  </FONT></FONT>
    2634. 

  2634. </P>
    2635. 

  2635. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2636. 

  2636. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
    2637. 

  2637. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2638. 

  2638. measurement</FONT></FONT></P>
    2639. 

  2639. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2640. 

  2640. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    2641. 

  2641. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2642. 

  2642. </P>
    2643. 

  2643. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2644. 

  2644. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d3); </FONT></FONT>
    2645. 

  2645. </P>
    2646. 

  2646. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2647. 

  2647. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2648. 

  2648. </P>
    2649. 

  2649. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2650. 

  2650. </P>
    2651. 

  2651. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2652. 

  2652. Main Arduino code</FONT></FONT></P>
    2653. 

  2653. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2654. 

  2654.  Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
    2655. 

  2655. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2656. 

  2656. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2657. 

  2657. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2658. 

  2658. setup() {</FONT></FONT></P>
    2659. 

  2659. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2660. 

  2660. </P>
    2661. 

  2661. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2662. 

  2662. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</FONT></FONT></P>
    2663. 

  2663. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2664. 

  2664. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;TaskScheduler
    2665. 

  2665. StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
    2666. 

  2666. </P>
    2667. 

  2667. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2668. 

  2668. <FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
    2669. 

  2669. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2670. 

  2670. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2671. 

  2671. </P>
    2672. 

  2672. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2673. 

  2673. loop() {</FONT></FONT></P>
    2674. 

  2674. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2675. 

  2675. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    2676. 

  2676. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2677. 

  2677. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2678. 

  2678. </P>
    2679. 

  2679. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2680. 

  2680. </P>
    2681. 

  2681. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2682. 

  2682. </P>
    2683. 

  2683. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2684. 

  2684. </P>
    2685. 

  2685. <OL START=3>
    2686. 

  2686. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2687. 

  2687. 	LOCAL TASK STORAGE POINTER  </B></FONT>
    2688. 

  2688. 	</P>
    2689. 

  2689. </OL>
    2690. 

  2690. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2691. 

  2691. </P>
    2692. 

  2692. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Tasks
    2693. 

  2693. can store a pointer to specific variable, structure or array, which
    2694. 

  2694. represents variables specific for a particular task. This may be
    2695. 

  2695. needed if you plan to use same callback method for multiple tasks.</FONT></FONT></P>
    2696. 

  2696. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Consider
    2697. 

  2697. a scenario where you have several sensors of the same type. The
    2698. 

  2698. actual process of triggering measurement and collecting information
    2699. 

  2699. is identical. The only difference is the sensor address and a
    2700. 

  2700. variable for storing the results.  </FONT></FONT>
    2701. 

  2701. </P>
    2702. 

  2702. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">In
    2703. 

  2703. this case each of the tasks, which performs measurement will utilize
    2704. 

  2704. the same callback methods. The only difference will be the variables
    2705. 

  2705. (specific for each of the sensor). </FONT></FONT>
    2706. 

  2706. </P>
    2707. 

  2707. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2708. 

  2708. </P>
    2709. 

  2709. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Let's
    2710. 

  2710. define a sensor data structure and declare a couple of variables (for
    2711. 

  2711. 2 sensors for instance)</FONT></FONT></P>
    2712. 

  2712. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2713. 

  2713. </P>
    2714. 

  2714. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2715. 

  2715. <FONT FACE="Courier New, monospace"><FONT SIZE=2>typedef struct {</FONT></FONT></P>
    2716. 

  2716. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2717. 

  2717. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned int
    2718. 

  2718. 	address;</FONT></FONT></P>
    2719. 

  2719. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2720. 

  2720. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned
    2721. 

  2721. long	distance;</FONT></FONT></P>
    2722. 

  2722. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2723. 

  2723. <FONT FACE="Courier New, monospace"><FONT SIZE=2>} sensor_data;</FONT></FONT></P>
    2724. 

  2724. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2725. 

  2725. <BR>
    2726. 

  2726. </P>
    2727. 

  2727. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2728. 

  2728. <FONT FACE="Courier New, monospace"><FONT SIZE=2>sensor_data s1, s2; </FONT></FONT>
    2729. 

  2729. </P>
    2730. 

  2730. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2731. 

  2731. </P>
    2732. 

  2732. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Two
    2733. 

  2733. separate tasks are running to collect sensor data.</FONT></FONT></P>
    2734. 

  2734. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">(Note
    2735. 

  2735. that both tasks refer to the same callback methods)</FONT></FONT></P>
    2736. 

  2736. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2737. 

  2737. </P>
    2738. 

  2738. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2739. 

  2739. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler ts;</FONT></FONT></P>
    2740. 

  2740. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2741. 

  2741. t1(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2742. 

  2742. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2743. 

  2743. </P>
    2744. 

  2744. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2745. 

  2745. t2(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2746. 

  2746. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2747. 

  2747. </P>
    2748. 

  2748. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2749. 

  2749. </P>
    2750. 

  2750. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Assign
    2751. 

  2751. pointers to the respective variables in the <B>setup</B>() method:</FONT></FONT></P>
    2752. 

  2752. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2753. 

  2753. </P>
    2754. 

  2754. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2755. 

  2755. setup() {</FONT></FONT></P>
    2756. 

  2756. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2757. 

  2757. </P>
    2758. 

  2758. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
    2759. 

  2759. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t1.setLtsPointer(&amp;s1);</FONT></FONT></P>
    2760. 

  2760. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t2.setLtsPointer(&amp;s2);</FONT></FONT></P>
    2761. 

  2761. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
    2762. 

  2762. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2763. 

  2763. </P>
    2764. 

  2764. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2765. 

  2765. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2766. 

  2766. </P>
    2767. 

  2767. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Obtain
    2768. 

  2768. reference to specific <B>sensor_data</B> structure inside the common
    2769. 

  2769. callback method:</FONT></FONT></P>
    2770. 

  2770. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2771. 

  2771. </P>
    2772. 

  2772. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2773. 

  2773. Measure() {</FONT></FONT></P>
    2774. 

  2774. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Task&amp;
    2775. 

  2775. T = ts.currentTask(); </FONT></FONT>
    2776. 

  2776. </P>
    2777. 

  2777. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2778. 

  2778. V = *((sensor_data*) T.getLtsPointer());</FONT></FONT></P>
    2779. 

  2779. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2780. 

  2780. For t1, V will be pointing at s1</FONT></FONT></P>
    2781. 

  2781. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2782. 

  2782. For t2, V will be pointing at s2</FONT></FONT></P>
    2783. 

  2783. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2784. 

  2784. </P>
    2785. 

  2785. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2786. 

  2786. Alternatively use the Scheduler method:</FONT></FONT></P>
    2787. 

  2787. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2788. 

  2788. V1 = *((sensor_data*) ts.currentLts());</FONT></FONT></P>
    2789. 

  2789. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2790. 

  2790. </P>
    2791. 

  2791. <P CLASS="western" STYLE="margin-left: 0.98in; text-indent: 0.49in; margin-bottom: 0in">
    2792. 

  2792. …</P>
    2793. 

  2793. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	V.distance
    2794. 

  2794. = &lt;calculate your values here&gt;;</FONT></FONT></P>
    2795. 

  2795. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2796. 

  2796. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2797. 

  2797. </P>
    2798. 

  2798. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2799. 

  2799. </P>
    2800. 

  2800. <OL START=3>
    2801. 

  2801. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>FUTHER
    2802. 

  2802. 	INFROMATION</B></FONT></P>
    2803. 

  2803. </OL>
    2804. 

  2804. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2805. 

  2805. </P>
    2806. 

  2806. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Please
    2807. 

  2807. refer to examples, provided with TaskScheduler package for further
    2808. 

  2808. information and implementation options.</FONT></FONT></P>
    2809. 

  2809. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2810. 

  2810. </P>
    2811. 

  2811. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Real
    2812. 

  2812. time examples of TaskScheduler are available here:</FONT></FONT></P>
    2813. 

  2813. <OL>
    2814. 

  2814. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/</FONT></A></U></FONT></P>
    2815. 

  2815. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/</FONT></A></U></FONT></P>
    2816. 

  2816. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider</FONT></A></U></FONT></P>
    2817. 

  2817. </OL>
    2818. 

  2818. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2819. 

  2819. </P>
    2820. 

  2820. <DIV TYPE=FOOTER>
    2821. 

  2821. 	<P STYLE="margin-top: 0.35in; margin-bottom: 0in">	<SDFIELD TYPE=PAGE SUBTYPE=RANDOM FORMAT=ARABIC>31</SDFIELD></P>
    2822. 

  2822. </DIV>
    2823. 

  2823. </BODY>
    2824. 

  2824. </HTML>
    2825.