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  7. 	<META NAME="CREATED" CONTENT="20150206;16300000">
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  8. 	<META NAME="CHANGEDBY" CONTENT="Anatoli Arkhipenko">
    9. 

  9. 	<META NAME="CHANGED" CONTENT="20151115;15470000">
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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 1.8.5: 2015-11-23</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"><B>TASK</B>:</P>
    62. 

  62. <P CLASS="western" STYLE="margin-bottom: 0in">“Task” is a
    63. 

  63. container concept that links together:</P>
    64. 

  64. <OL>
    65. 

  65. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Program code
    66. 

  66. 	performing specific task activities (callback methods)</P>
    67. 

  67. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution interval</P>
    68. 

  68. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
    69. 

  69. 	execution iterations</P>
    70. 

  70. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
    71. 

  71. 	Execution event (Status Request)</P>
    72. 

  72. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
    73. 

  73. 	Pointer to a Local Task Storage area</P>
    74. 

  74. </OL>
    75. 

  75. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    76. 

  76. </P>
    77. 

  77. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Tasks</B> perform
    78. 

  78. certain functions, which could require periodic or one-time
    79. 

  79. execution, update of specific variables, or waiting for specific
    80. 

  80. events. Tasks also could be controlling specific hardware, or
    81. 

  81. triggered by hardware interrupts. 
    82. 

  82. </P>
    83. 

  83. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    84. 

  84. </P>
    85. 

  85. <P CLASS="western" STYLE="margin-bottom: 0in">For execution purposes
    86. 

  86. <B>Tasks</B> are linked into execution <B>chains</B>, which are
    87. 

  87. processed by the <B>Scheduler</B> in the order they were added
    88. 

  88. (linked together).</P>
    89. 

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

  90. </P>
    91. 

  91. <P CLASS="western" STYLE="margin-bottom: 0in">Each task performs its
    92. 

  92. function via a callback method. Scheduler calls Task’s callback
    93. 

  93. method periodically until task is disabled or runs out of iterations.
    94. 

  94. In addition to “regular” callback method, two additional methods
    95. 

  95. could be utilized for each task: a callback method invoked every time
    96. 

  96. the task is enabled, and a callback method invoked once when the task
    97. 

  97. is disabled. Those two special methods allow tasks to properly
    98. 

  98. initiate themselves for execution, and clean-up after execution is
    99. 

  99. over (E.g., setup pin modes on enable, and always bring pin level to
    100. 

  100. LOW at the end). 
    101. 

  101. </P>
    102. 

  102. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    103. 

  103. </P>
    104. 

  104. <P CLASS="western" STYLE="margin-bottom: 0in">Tasks are responsible
    105. 

  105. for supporting <B>cooperative</B> <B>multitasking</B> by being “good
    106. 

  106. neighbors”, i.e., running their callback methods quickly in a
    107. 

  107. non-blocking way, and releasing control back to scheduler as soon as
    108. 

  108. possible. 
    109. 

  109. </P>
    110. 

  110. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    111. 

  111. </P>
    112. 

  112. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler</B> is
    113. 

  113. executing Tasks' callback methods in the order the tasks were added
    114. 

  114. to the chain, from first to last. Scheduler stops and exists after
    115. 

  115. processing the chain once in order to allow other statements in the
    116. 

  116. main code of <B>loop()</B> method to run.  This is referred to as a
    117. 

  117. <B>“scheduling pass”.</B></P>
    118. 

  118. <P CLASS="western" STYLE="margin-bottom: 0in">(Normally, there is no
    119. 

  119. need to have any other statements in the <B>loop</B>() method other
    120. 

  120. than the Scheduler's <B>execute</B>() method).</P>
    121. 

  121. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    122. 

  122. </P>
    123. 

  123. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    124. 

  124. <B>Below is the flowchart of a Task lifecycle:</B></P>
    125. 

  125. <P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=616 BORDER=0></P>
    126. 

  126. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    127. 

  127. </P>
    128. 

  128. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TaskScheduler</B>
    129. 

  129. library maybe compiled with different compilation controls
    130. 

  130. enabled/disabled. This is a way to limit TaskScheduler functionality
    131. 

  131. (and size) for specific purpose (sketch). This is achieved by
    132. 

  132. defining specific #<B>define</B> paramenters <I>before</I>
    133. 

  133. TaskScheduler.h header file. Specifically:</P>
    134. 

  134. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    135. 

  135. </P>
    136. 

  136. <P CLASS="western" STYLE="margin-bottom: 0in">If compiled with
    137. 

  137. <FONT FACE="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</FONT>
    138. 

  138. enabled, the scheduler will place processor into IDLE sleep mode (for
    139. 

  139. approximately 1 ms, as the timer interrupt will wake it up), after
    140. 

  140. what is determined to be an “idle” pass. An Idle Pass is a pass
    141. 

  141. through the task chain when no Tasks were scheduled to run their
    142. 

  142. callback methods. This is done to avoid repetitive idle passes
    143. 

  143. through the chain when no tasks need to be executed. If any of the
    144. 

  144. tasks in the chain always requires immediate execution (aInterval =
    145. 

  145. 0), then there will be no IDLE sleep between task's callback method
    146. 

  146. execution.</P>
    147. 

  147. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    148. 

  148. </P>
    149. 

  149. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Task
    150. 

  150. Scheduler uses <B>millis()</B> to determine if tasks are ready to be
    151. 

  151. invoked. Therefore, if you put your device to any “deep” sleep
    152. 

  152. mode disabling timer interrupts, the <B>millis()</B> count will be
    153. 

  153. suspended, leading to effective suspension of scheduling. Upon wake
    154. 

  154. up, active tasks need to be re-enabled, which will effectively reset
    155. 

  155. their internal time scheduling variables to the new value of
    156. 

  156. <B>millis(). </B>Time spent in deep sleep mode should be considered
    157. 

  157. “frozen”, i.e., if a task was scheduled to run in 1 second from
    158. 

  158. now, and device was put to sleep for 5 minutes, upon wake up, the
    159. 

  159. task will still be scheduled 1 second from the time of wake up.
    160. 

  160. Executing <B>enable() </B>method on this tasks will make it run as
    161. 

  161. soon as possible. This is a concern only for tasks which are required
    162. 

  162. to run in a truly periodical manner (in absolute time terms). 
    163. 

  163. </P>
    164. 

  164. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    165. 

  165. </P>
    166. 

  166. <P CLASS="western" STYLE="margin-bottom: 0in">In addition to
    167. 

  167. time-only (<B>millis</B>() only)  invocation, tasks can be scheduled
    168. 

  168. to wait on an event employing StatusRequest objects (more about
    169. 

  169. Status Requests later).</P>
    170. 

  170. <P CLASS="western" STYLE="margin-bottom: 0in">Consider a scenario
    171. 

  171. when one task (t1) is performing a function which affects execution
    172. 

  172. of many tasks (t2, t3). In this case the task t1 will “signal”
    173. 

  173. completion of its function via Status Request object. Tasks t2 and t3
    174. 

  174. are “waiting” on the same Status Request object. As soon as
    175. 

  175. status request completes, t2 and t3 are activated.</P>
    176. 

  176. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    177. 

  177. </P>
    178. 

  178. <P CLASS="western" STYLE="margin-bottom: 0in">Alternative scenario is
    179. 

  179. the ne task (t1) and waiting for the completion of a number of tasks
    180. 

  180. (t2, t3). When done, t2 and t3 signal completion of their functions,
    181. 

  181. t1 is invoked. 
    182. 

  182. </P>
    183. 

  183. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    184. 

  184. </P>
    185. 

  185. <P CLASS="western" STYLE="margin-bottom: 0in">Please see the code
    186. 

  186. examples at the end of this document, and included with the library
    187. 

  187. package for details.</P>
    188. 

  188. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    189. 

  189. </P>
    190. 

  190. <P CLASS="western" STYLE="margin-bottom: 0in"><B>COMPILE PARAMETERS:</B></P>
    191. 

  191. <P CLASS="western" STYLE="margin-bottom: 0in">This library could be
    192. 

  192. compiled in several configurations.</P>
    193. 

  193. <P CLASS="western" STYLE="margin-bottom: 0in">Parameters (<B>#define</B>s)
    194. 

  194. defining what functionality should or should not be included need be
    195. 

  195. defined before the library header file in the body of arduino sketch.</P>
    196. 

  196. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    197. 

  197. </P>
    198. 

  198. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    199. 

  199. <B>_TASK_TIMECRITICAL</B></P>
    200. 

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

  201. library with time critical tracking option enabled.</P>
    202. 

  202. <P CLASS="western" STYLE="margin-bottom: 0in">Time critical option
    203. 

  203. keeps track where next execution time of the task falls, and makes it
    204. 

  204. available via API through <B>Task::getOverrun()</B> method. If
    205. 

  205. <B>getOverrun </B>returns a negative value, this Task’s next
    206. 

  206. execution time point is <I>already</I> in the past, and task is
    207. 

  207. behind schedule. This most probably means that either task’s
    208. 

  208. callback method's runtime is too long, or the execution interval is
    209. 

  209. too short (and therefore schedule is too aggressive).</P>
    210. 

  210. <P CLASS="western" STYLE="margin-bottom: 0in">A positive value
    211. 

  211. indicates that task is on schedule, and callback methods have enough
    212. 

  212. time to finish before the next scheduled pass. 
    213. 

  213. </P>
    214. 

  214. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    215. 

  215. </P>
    216. 

  216. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    217. 

  217. <B>_TASK_SLEEP_ON_IDLE_RUN</B></P>
    218. 

  218. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    219. 

  219. library with the <B>sleep</B> option enabled (AVR boards only).</P>
    220. 

  220. <P CLASS="western" STYLE="margin-bottom: 0in">When enabled, scheduler
    221. 

  221. will put the microcontroller into <B>SLEEP_MODE_IDLE</B> state if
    222. 

  222. none of the tasks’ callback methods were activated during execution
    223. 

  223. pass. <B>IDLE</B> state is interrupted by timers once every 1 ms.
    224. 

  224. Putting microcontroller to IDLE state helps conserve power.  Device
    225. 

  225. in SLEEP_MODE_IDLE wakes up to all hardware and timer interrupts, so
    226. 

  226. scheduling is kept current.</P>
    227. 

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

  228. </P>
    229. 

  229. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    230. 

  230. #define <B>_TASK_STATUS_REQUEST</B></P>
    231. 

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

  232. TaskScheduler with support for StatusRequest object. Status Requests
    233. 

  233. are objects allowing tasks to wait on an event, and signal event
    234. 

  234. completion to each other. 
    235. 

  235. </P>
    236. 

  236. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    237. 

  237. </P>
    238. 

  238. <P CLASS="western" STYLE="margin-bottom: 0in">#define <B>_TASK_WDT_IDS</B></P>
    239. 

  239. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    240. 

  240. TaskScheduler with support for Task IDs and Control Points. Each task
    241. 

  241. can be (and is by default) assigned an ID, which could be used to
    242. 

  242. identify the task in case there is a problem with it. Furthermore
    243. 

  243. within the task, Control Points could be defined to further help with
    244. 

  244. pinpointing potential problem areas. For instance, the tasks which
    245. 

  245. deal with external resources (sensors, serial communications,
    246. 

  246. anything hardware dependent) can be blocked (or hung), by failed
    247. 

  247. hardware. In this case, a watchdog timer could be employed to trap
    248. 

  248. such a failed task, and identify which one (by task id) and where in
    249. 

  249. the task (by a control point) the problem is likely located.</P>
    250. 

  250. <P CLASS="western" STYLE="margin-bottom: 0in"> 
    251. 

  251. </P>
    252. 

  252. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>by
    253. 

  253. default, talk IDs are assigned sequentially (1, 2, 3, …) to the
    254. 

  254. tasks as they are being created. Programmer can assign a specific
    255. 

  255. task id. <B>Task ids are unsigned integers.</B></P>
    256. 

  256. <P CLASS="western" STYLE="margin-bottom: 0in">Control points provide
    257. 

  257. a way to identify potential problem points within a task. Control
    258. 

  258. points are <B>unsigned integers </B>as well. Please note that there
    259. 

  259. is only one control point per task, and it is set to zero when the
    260. 

  260. task’s callback method is invoked (this is done to prevent “stray”
    261. 

  261. control point from previous task(s) confusing the matters.</P>
    262. 

  262. <P CLASS="western" STYLE="margin-bottom: 0in">Example #7 contains a
    263. 

  263. test of task ID and control points functionality.  
    264. 

  264. </P>
    265. 

  265. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    266. 

  266. </P>
    267. 

  267. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    268. 

  268. <B>_TASK_LTS_POINTER</B></P>
    269. 

  269. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    270. 

  270. TaskScheduler with support for Local Task Storage pointer (LTS). LTS
    271. 

  271. is a generic (void*) pointer which could be set to reference a
    272. 

  272. variable or a structure specific to a particular task. A callback
    273. 

  273. method can get access to specific variables by getting reference to a
    274. 

  274. currently running task from the scheduler, and then casting (void*)
    275. 

  275. LTS pointer to the appropriate pointer type. 
    276. 

  276. </P>
    277. 

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

  278. </P>
    279. 

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

  280. <B>_TASK_ROLLOVER_FIX</B></P>
    281. 

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

  282. TaskScheduler with support for millis() rollover approximately every
    283. 

  283. 47 days. Only required if you plan for your sketch to run for
    284. 

  284. extended amount of time (over 47 days).</P>
    285. 

  285. <P CLASS="western" STYLE="margin-bottom: 0in">The problem here is
    286. 

  286. when scheduler calculates next execution time for a task, a rollover
    287. 

  287. may place next execution time “in the past” and cause task to be
    288. 

  288. invoked incorrectly once every 47 days. 
    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"><B>TASK PRIORITY AND
    301. 

  301. COOPERATIVE MULTITASKING:</B></P>
    302. 

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

  303. not support</B> task priority functionality. I have been thinking a
    304. 

  304. lot about it (especially since Symbian's Active Objects, which
    305. 

  305. TaskScheduler is inspired by, support it), but decided against it.  
    306. 

  306. </P>
    307. 

  307. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    308. 

  308. </P>
    309. 

  309. <P CLASS="western" STYLE="margin-bottom: 0in">This is why:</P>
    310. 

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

  311. </P>
    312. 

  312. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    313. 

  313. </P>
    314. 

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

  315. </P>
    316. 

  316. <P CLASS="western" STYLE="margin-bottom: 0in">1. Execution chains are
    317. 

  317. simple and efficient. The main idea is to minimize scheduling
    318. 

  318. overhead by Scheduler going through the chain. Implementing true
    319. 

  319. priority would require looking ahead through the entire chain,
    320. 

  320. ranking and aging tasks by priorities. It would slow the <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">execute()
    321. 

  321. </FONT></FONT>loop significantly.</P>
    322. 

  322. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    323. 

  323. </P>
    324. 

  324. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    325. 

  325. </P>
    326. 

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

  327. </P>
    328. 

  328. <P CLASS="western" STYLE="margin-bottom: 0in">2. TaskScheduler is <B>NOT</B>
    329. 

  329. a pre-emptive multi-tasking library. Nor is it a Real-Time OS. There
    330. 

  330. is no way to break execution of one task in favor of another.
    331. 

  331. Therefore callback methods require careful programming for
    332. 

  332. cooperative behavior.</P>
    333. 

  333. <P CLASS="western" STYLE="margin-bottom: 0in">This has, however,
    334. 

  334. significant benefits: you don't need to worry about concurrency
    335. 

  335. inside the callback method, since only one callback method runs at a
    336. 

  336. time, and could not be interrupted. All resources are yours for that
    337. 

  337. period of time, noone can switch the value of variables (except
    338. 

  338. interrupt functions of course...), etc. It is a stable and
    339. 

  339. predictable environment, and it helps a lot with writing stable code.
    340. 

  340. </P>
    341. 

  341. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    342. 

  342. </P>
    343. 

  343. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    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">A number of things
    348. 

  348. could be done instead of priorities:</P>
    349. 

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

  350. </P>
    351. 

  351. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    352. 

  352. </P>
    353. 

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

  354. </P>
    355. 

  355. <P CLASS="western" STYLE="margin-bottom: 0in">1. Schedule your
    356. 

  356. critical tasks to run more frequently than the other tasks</P>
    357. 

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

  358. control the interval, you could also change the task to run more or
    359. 

  359. less frequently as the situation demands).</P>
    360. 

  360. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    361. 

  361. </P>
    362. 

  362. <P CLASS="western" STYLE="margin-bottom: 0in">2. If one particular
    363. 

  363. callback routine is critical, create a couple of tasks referring to
    364. 

  364. the same callback and &quot;sprinkle&quot; them around the chain:</P>
    365. 

  365. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    366. 

  366. </P>
    367. 

  367. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    368. 

  368. </P>
    369. 

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

  370. </P>
    371. 

  371. <P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Scheduler
    372. 

  372. ts;</FONT></FONT></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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    376. 

  376. t1(20, TASK_FOREVER, &amp;callback1, &amp;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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    380. 

  380. t2(1000, TASK_FOREVER, &amp;callback2, &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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    384. 

  384. t3(20, TASK_FOREVER, &amp;callback1, &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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    388. 

  388. t4(1000, TASK_FOREVER, &amp;callback4, &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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t3.delay(10);</FONT></FONT></P>
    392. 

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

  393. </P>
    394. 

  394. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    395. 

  395. </P>
    396. 

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

  397. </P>
    398. 

  398. <P CLASS="western" STYLE="margin-bottom: 0in">Note that t1 and t3
    399. 

  399. call the same callback method, and are shifted in time by 10 millis.
    400. 

  400. So effectively callback1 will be called every 10 millis, but would be
    401. 

  401. &quot;sandwiched&quot; between t2 and t4. 
    402. 

  402. </P>
    403. 

  403. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    404. 

  404. </P>
    405. 

  405. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    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">3. Use short efficient
    412. 

  412. callback methods written for cooperative multitasking.</P>
    413. 

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

  414. </P>
    415. 

  415. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    416. 

  416. </P>
    417. 

  417. <P CLASS="western" STYLE="margin-bottom: 0in">What that means is:</P>
    418. 

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

  419. </P>
    420. 

  420. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    421. 

  421. </P>
    422. 

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

  423. </P>
    424. 

  424. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">a)
    425. 

  425. <B>DO NOT</B> use Arduino's  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">delay()</FONT></FONT><FONT FACE="Andale Mono">
    426. 

  426. </FONT>function. It is blocking and will hold the entire chain.
    427. 

  427. Instead break the callback method into two, switch the callback
    428. 

  428. method of the task where delay is necessary and delay the task by
    429. 

  429. that number of millis. You get your delay, and other tasks get a
    430. 

  430. chance to run:</P>
    431. 

  431. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    432. 

  432. </P>
    433. 

  433. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    434. 

  434. </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">instead
    438. 

  438. of:</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"><BR>
    442. 

  442. </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">  
    446. 

  446.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    447. 

  447. callback() {</FONT></FONT></P>
    448. 

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

  449. </P>
    450. 

  450. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    451. 

  451.   <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    452. 

  452. stuff</FONT></FONT></P>
    453. 

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

  454. </P>
    455. 

  455. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    456. 

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

  461. more stuff</FONT></FONT></P>
    462. 

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

  463. </P>
    464. 

  464. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    465. 

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

  470. </P>
    471. 

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

  472. </P>
    473. 

  473. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">do
    474. 

  474. this:</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"><BR>
    478. 

  478. </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">  
    482. 

  482.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    483. 

  483. callback1() {</FONT></FONT></P>
    484. 

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

  485. </P>
    486. 

  486. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    487. 

  487.   <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    488. 

  488. stuff</FONT></FONT></P>
    489. 

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

  490. </P>
    491. 

  491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    492. 

  492.   <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback2);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    504. 

  504. </P>
    505. 

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

  506.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    507. 

  507. callback2() {</FONT></FONT></P>
    508. 

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

  509. </P>
    510. 

  510. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    511. 

  511.   <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    512. 

  512. more stuff</FONT></FONT></P>
    513. 

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

  514. </P>
    515. 

  515. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    516. 

  516.   <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback1);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    524. 

  524. </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">b)
    532. 

  532. Same goes to <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">pulseIn()</FONT></FONT>
    533. 

  533. function. If you have to use it, set the timeout parameter such that
    534. 

  534. it is not a default 1 second. PulseIn functionality could be achieved
    535. 

  535. via pin interrupts, and that solution is non-blocking.</P>
    536. 

  536. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    537. 

  537. </P>
    538. 

  538. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    539. 

  539. </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">c)
    543. 

  543. Do don run long loops (for or do/while) in you callback methods. Make
    544. 

  544. the main arduino loop be the loop driver for you:</P>
    545. 

  545. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    546. 

  546. </P>
    547. 

  547. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    548. 

  548. </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">instead
    552. 

  552. of:</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"><BR>
    556. 

  556. </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">  
    560. 

  560.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    561. 

  561. callback() {</FONT></FONT></P>
    562. 

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

  563. </P>
    564. 

  564. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    565. 

  565.  
    566. 

  566. </P>
    567. 

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

  568. </P>
    569. 

  569. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    570. 

  570.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">for(int
    571. 

  571. i=0; i&lt;1000; i++) {</FONT></FONT></P>
    572. 

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

  573. </P>
    574. 

  574. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    575. 

  575.      <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    576. 

  576. stuff // one loop action</FONT></FONT></P>
    577. 

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

  578. </P>
    579. 

  579. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    580. 

  580.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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, 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"><BR>
    588. 

  588. </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">do
    592. 

  592. this:</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"><BR>
    596. 

  596. </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">  
    600. 

  600.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    601. 

  601. t1(TASK_IMMEDIATE, 1000, &amp;callback);</FONT></FONT></P>
    602. 

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

  603. </P>
    604. 

  604. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    605. 

  605.   
    606. 

  606. </P>
    607. 

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

  608. </P>
    609. 

  609. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    610. 

  610.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    611. 

  611. callback() {</FONT></FONT></P>
    612. 

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

  613. </P>
    614. 

  614. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    615. 

  615.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
    616. 

  616. i = t1.getRunCounter() -1;</FONT></FONT></P>
    617. 

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

  618. </P>
    619. 

  619. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    620. 

  620.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    621. 

  621. stuff // one loop action</FONT></FONT></P>
    622. 

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

  623. </P>
    624. 

  624. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    625. 

  625.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    629. 

  629. </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">or
    633. 

  633. this:</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"><BR>
    637. 

  637. </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">  
    641. 

  641.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    642. 

  642. t1(TASK_IMMEDIATE, 1000, &amp;callback, true, &amp;t1On);</FONT></FONT></P>
    643. 

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

  644. </P>
    645. 

  645. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    646. 

  646.  
    647. 

  647. </P>
    648. 

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

  649. </P>
    650. 

  650. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    651. 

  651.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
    652. 

  652. i;</FONT></FONT></P>
    653. 

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

  654. </P>
    655. 

  655. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    656. 

  656.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">bool
    657. 

  657. t1On() {</FONT></FONT></P>
    658. 

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

  659. </P>
    660. 

  660. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    661. 

  661.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i
    662. 

  662. = 0;</FONT></FONT></P>
    663. 

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

  664. </P>
    665. 

  665. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    666. 

  666.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">return
    667. 

  667. true;</FONT></FONT></P>
    668. 

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

  669. </P>
    670. 

  670. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    671. 

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

  676. </P>
    677. 

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

  678. </P>
    679. 

  679. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    680. 

  680.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    681. 

  681. callback() {</FONT></FONT></P>
    682. 

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

  683. </P>
    684. 

  684. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    685. 

  685.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    686. 

  686. stuff // one loop action</FONT></FONT></P>
    687. 

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

  688. </P>
    689. 

  689. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    690. 

  690.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i++;</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    698. 

  698. </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" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
    704. 

  704. <B>REMEMBER: you are already inside the loop - take advantage of it. </B>
    705. 

  705. </P>
    706. 

  706. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    707. 

  707. </P>
    708. 

  708. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">d)
    709. 

  709. Break long running callback methods into several shorter ones, and
    710. 

  710. pass control from one to the other via <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">setCallback()
    711. 

  711. </FONT></FONT>method:</P>
    712. 

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

  713. </P>
    714. 

  714. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    715. 

  715. </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">  
    719. 

  719.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    720. 

  720. t1(TASK_IMMEDIATE, TASK_FAREVER, &amp;callback);</FONT></FONT></P>
    721. 

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

  722. </P>
    723. 

  723. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    724. 

  724.  
    725. 

  725. </P>
    726. 

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

  727. </P>
    728. 

  728. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    729. 

  729.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    730. 

  730. callback() {</FONT></FONT></P>
    731. 

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

  732. </P>
    733. 

  733. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    734. 

  734.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    735. 

  735. do some stuff</FONT></FONT></P>
    736. 

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

  737. </P>
    738. 

  738. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    739. 

  739.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    748. 

  748. callback_step2() {</FONT></FONT></P>
    749. 

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

  750. </P>
    751. 

  751. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    752. 

  752.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    753. 

  753. do more stuff</FONT></FONT></P>
    754. 

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

  755. </P>
    756. 

  756. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    757. 

  757.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    766. 

  766. callback_step3() {</FONT></FONT></P>
    767. 

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

  768. </P>
    769. 

  769. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    770. 

  770.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    771. 

  771. do last part of the stuff</FONT></FONT></P>
    772. 

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

  773. </P>
    774. 

  774. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    775. 

  775.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    787. 

  787. </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">This
    791. 

  791. will execute all  parts of the callback function in three successive
    792. 

  792. steps, sheduled immediately, but allowing other tasks in the cahin to
    793. 

  793. run. Notince that task is scheduled to run immediately, and 1 second
    794. 

  794. period is achieved by delaying the task for 1000 millis at the last
    795. 

  795. step. 
    796. 

  796. </P>
    797. 

  797. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    798. 

  798. </P>
    799. 

  799. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Alternatively
    800. 

  800. you could schedule the task to run every 1000 millis and use
    801. 

  801. <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">forceNextIteration()</FONT></FONT>
    802. 

  802. method in steps 1 and 2 (but not 3!)</P>
    803. 

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

  804. </P>
    805. 

  805. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    806. 

  806. </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">  
    810. 

  810.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
    811. 

  811. t1(1000, TASK_FOREVER, &amp;callback);</FONT></FONT></P>
    812. 

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

  813. </P>
    814. 

  814. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    815. 

  815.  
    816. 

  816. </P>
    817. 

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

  818. </P>
    819. 

  819. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    820. 

  820.  <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    821. 

  821. callback() {</FONT></FONT></P>
    822. 

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

  823. </P>
    824. 

  824. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    825. 

  825.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    826. 

  826. do some stuff</FONT></FONT></P>
    827. 

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

  828. </P>
    829. 

  829. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    830. 

  830.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    843. 

  843. callback_step2() {</FONT></FONT></P>
    844. 

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

  845. </P>
    846. 

  846. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    847. 

  847.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    848. 

  848. do more stuff</FONT></FONT></P>
    849. 

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

  850. </P>
    851. 

  851. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    852. 

  852.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
    865. 

  865. callback_step3() {</FONT></FONT></P>
    866. 

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

  867. </P>
    868. 

  868. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    869. 

  869.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
    870. 

  870. do last part of the stuff</FONT></FONT></P>
    871. 

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

  872. </P>
    873. 

  873. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    874. 

  874.    <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</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, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</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"><BR>
    882. 

  882. </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">e)
    890. 

  890. Compile the library with <FONT FACE="FreeMono, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>_TASK_TIMECRITICAL</B></FONT></FONT>
    891. 

  891. enabled and check if your tasks are falling behind schedule. If they
    892. 

  892. are - you need to optimize your code further (or maybe re-evaluate
    893. 

  893. your schedule). If they are not - all is well and you don't need to
    894. 

  894. do anything. E.g., I have a spider robot which needs to measure
    895. 

  895. distance, control motors, and keep track of the angle via querying
    896. 

  896. gyroscope and accelerometer every 10 ms. The idea was to flash
    897. 

  897. onboard LED if any of the tasks fall behind. At 10 ms interval for
    898. 

  898. the gyro the LED does not flash, which means none of the tasks are
    899. 

  899. blocking the others from starting on time. 
    900. 

  900. </P>
    901. 

  901. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    902. 

  902. </P>
    903. 

  903. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    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; page-break-after: avoid">
    908. 

  908. <FONT SIZE=4><B>API DOCUMENTATION:</B></FONT></P>
    909. 

  909. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    910. 

  910. <BR>
    911. 

  911. </P>
    912. 

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

  913. <FONT SIZE=4><B>TASKS:</B></FONT></P>
    914. 

  914. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    915. 

  915. <BR>
    916. 

  916. </P>
    917. 

  917. <P CLASS="western" STYLE="margin-bottom: 0in">CREATION:</P>
    918. 

  918. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
    919. 

  919. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    920. 

  920. </P>
    921. 

  921. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    922. 

  922. constructor. 
    923. 

  923. </P>
    924. 

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

  925. no parameters and creates a task that could be scheduled to run at
    926. 

  926. every scheduling pass indefinitely, but does not have a callback
    927. 

  927. method defined, so no code execution will actually take place. 
    928. 

  928. </P>
    929. 

  929. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    930. 

  930. tasks are created <B>disabled</B> by default.</P>
    931. 

  931. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    932. 

  932. </P>
    933. 

  933. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    934. 

  934. <B>Task(unsigned long aInterval, long aIterations, void
    935. 

  935. (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
    936. 

  936. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    937. 

  937. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    938. 

  938. </P>
    939. 

  939. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Constructor
    940. 

  940. with parameters. 
    941. 

  941. </P>
    942. 

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

  943. a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
    944. 

  944. &lt;aIterations&gt; times, executing &lt;aCallback&gt; method on
    945. 

  945. every pass. 
    946. 

  946. </P>
    947. 

  947. <OL>
    948. 

  948. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
    949. 

  949. 	milliseconds (<B>default = 0)</B></P>
    950. 

  950. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aIteration in
    951. 

  951. 	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
    952. 

  952. 	</B>Tasks do not remember the number of iteration set initially.
    953. 

  953. 	After the iterations are done, internal iteration counter is 0. If
    954. 

  954. 	you need to perform another set of iterations, you need to set the
    955. 

  955. 	number of iterations again. <BR><B>Note: </B>Tasks which performed
    956. 

  956. 	all their iterations remain active. 
    957. 

  957. 	</P>
    958. 

  958. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
    959. 

  959. 	pointer to a void callback method without parameters (<B>default =
    960. 

  960. 	NULL)</B></P>
    961. 

  961. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
    962. 

  962. 	<B>optional</B> reference to existing scheduler. If supplied (not
    963. 

  963. 	NULL) this task will be appended to the task chain of the current
    964. 

  964. 	scheduler). (<B>default = NULL)</B></P>
    965. 

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

  966. 	<B>optional</B>. Value of <B>true </B>will create task enabled.
    967. 

  967. 	(<B>default = false)</B></P>
    968. 

  968. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
    969. 

  969. 	pointer to a bool callback method without parameters, invoked when
    970. 

  970. 	task is enabled. If OnEnable method returns <B>true</B>, task is
    971. 

  971. 	enabled. If <B>OnEnable</B> method return <B>false</B>, task remains
    972. 

  972. 	disabled (<B>default = NULL)</B></P>
    973. 

  973. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
    974. 

  974. 	pointer to a void callback method without parameters, invoked when
    975. 

  975. 	task is disabled (<B>default = NULL)</B></P>
    976. 

  976. </OL>
    977. 

  977. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    978. 

  978. </P>
    979. 

  979. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    980. 

  980. tasks are created <B>disabled</B> by default (unless <B>aEnable</B> =
    981. 

  981. true). You have to explicitly enable the task for execution.</P>
    982. 

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

  983. </P>
    984. 

  984. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    985. 

  985. </B>OnEnable callback method is called immediately when task is
    986. 

  986. enabled, which could be well ahead of the scheduled execution time of
    987. 

  987. the task. Please bear that in mind – other tasks, hardware, serial
    988. 

  988. interface may not even be initialized yet. It is always advisable to
    989. 

  989. explicitly enable tasks with OnEnable methods after all
    990. 

  990. initialization methods completed (e.g., at the end of <B>setup</B>()
    991. 

  991. method) 
    992. 

  992. </P>
    993. 

  993. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    994. 

  994. </P>
    995. 

  995. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enabled
    996. 

  996. task is scheduled for execution as soon as the Scheduler's <B>execute</B>()
    997. 

  997. methods gets control. In order to delay first run of the task, use
    998. 

  998. <B>enableDelayed</B> or <B>delay</B> method (for enabled tasks)
    999. 

  999. method.</P>
    1000. 

  1000. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1001. 

  1001. </P>
    1002. 

  1002. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1003. 

  1003. <B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
    1004. 

  1004. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    1005. 

  1005. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1006. 

  1006. </P>
    1007. 

  1007. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1008. 

  1008. compiled with support for Status Request objects, this constructor
    1009. 

  1009. creates a Task for activation on event (since such tasks must run
    1010. 

  1010. <B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
    1011. 

  1011. <I>enabled</I> status will be set by that method (<I>to 0, 1 and
    1012. 

  1012. false</I> respectively).</P>
    1013. 

  1013. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1014. 

  1014. </P>
    1015. 

  1015. <P CLASS="western" STYLE="margin-bottom: 0in"><B>INFORMATION</B></P>
    1016. 

  1016. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1017. 

  1017. following 3 “getter” methods return task status
    1018. 

  1018. (enabled/disabled), execution interval in milliseconds, number of
    1019. 

  1019. <I><B>remaining</B></I> iterations. 
    1020. 

  1020. </P>
    1021. 

  1021. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1022. 

  1022. </P>
    1023. 

  1023. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
    1024. 

  1024. isEnabled() </B>
    1025. 

  1025. </P>
    1026. 

  1026. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>unsigned
    1027. 

  1027. long getInterval()</B></P>
    1028. 

  1028. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
    1029. 

  1029. getIterations() </B>
    1030. 

  1030. </P>
    1031. 

  1031. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1032. 

  1032. </P>
    1033. 

  1033. <P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
    1034. 

  1034. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1035. 

  1035. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1036. 

  1036. enabled, tasks are monitored for “long running” scenario. A “long
    1037. 

  1037. running” task is a task that does not finish processing its
    1038. 

  1038. callback methods quickly, and thus creates a situation for itself and
    1039. 

  1039. other tasks where they don't run on a scheduled interval, but rather
    1040. 

  1040. “catch up” and are behind.  When task scheduler sets the next
    1041. 

  1041. execution target time, it adds Task's execution interval to the
    1042. 

  1042. previously scheduled execution time:</P>
    1043. 

  1043. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">	<B>next
    1044. 

  1044. execution time = previous execution time + task execution interval</B></P>
    1045. 

  1045. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1046. 

  1046. </P>
    1047. 

  1047. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1048. 

  1048. <B>next execution time</B> happens to be already in the past (<B>next
    1049. 

  1049. execution time</B> &lt; <B>millis()</B>), then task is considered
    1050. 

  1050. <I><B>overrun</B></I>. <B>GetOverrun</B> method returns number of
    1051. 

  1051. milliseconds between next execution time and current time. If the
    1052. 

  1052. <B>value is negative</B>, the task has overrun (cut into the) next
    1053. 

  1053. execution interval by that many milliseconds. 
    1054. 

  1054. </P>
    1055. 

  1055. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Positive
    1056. 

  1056. value indicate number of milliseconds of slack this task has for
    1057. 

  1057. execution purposes. 
    1058. 

  1058. </P>
    1059. 

  1059. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1060. 

  1060. </P>
    1061. 

  1061. <P CLASS="western" STYLE="margin-bottom: 0in"><B>unsigned long
    1062. 

  1062. getRunCounter()</B></P>
    1063. 

  1063. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1064. 

  1064. the number of the current run. “Current run” is the number of
    1065. 

  1065. times a callback method has been invoked since the last time a task
    1066. 

  1066. was enabled. <BR><BR>
    1067. 

  1067. </P>
    1068. 

  1068. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1069. 

  1069. </B>The <B>runCounter</B> value is incremented <I>before</I> callback
    1070. 

  1070. method is invoked. If a task is checking the <B>runCounter</B> value
    1071. 

  1071. within its callback method, then the first run value is 1. 
    1072. 

  1072. </P>
    1073. 

  1073. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1074. 

  1074. task T1 is checking the <B>runCounter</B> value of another task (T2)
    1075. 

  1075. , then value = 0 indicates that T2 has not been invoked yet, and
    1076. 

  1076. value = 1 indicates that T2 has run once. 
    1077. 

  1077. </P>
    1078. 

  1078. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1079. 

  1079. </P>
    1080. 

  1080. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    1081. 

  1081. isFirstIteration()</B></P>
    1082. 

  1082. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Indicates
    1083. 

  1083. whether current pass is (or will be) a first iteration of the task. 
    1084. 

  1084. </P>
    1085. 

  1085. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    1086. 

  1086. isLastIteration()</B></P>
    1087. 

  1087. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
    1088. 

  1088. tasks with a l<I>imited number of iterations only</I>, indicates
    1089. 

  1089. whether current pass is the last iteration. 
    1090. 

  1090. </P>
    1091. 

  1091. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1092. 

  1092. </P>
    1093. 

  1093. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1094. 

  1094. <B>CONTROL:</B></P>
    1095. 

  1095. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1096. 

  1096. <BR>
    1097. 

  1097. </P>
    1098. 

  1098. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
    1099. 

  1099. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1100. 

  1100. </P>
    1101. 

  1101. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1102. 

  1102. the task, and schedules it for immediate execution (without delay) at
    1103. 

  1103. this or next scheduling pass depending on when the task was enabled.
    1104. 

  1104. Scheduler will execute the next pass without any delay because there
    1105. 

  1105. is a task which was enabled and requires execution. 
    1106. 

  1106. </P>
    1107. 

  1107. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1108. 

  1108. </P>
    1109. 

  1109. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1110. 

  1110. </B>if task being enabled is not assigned to a scheduler and is not
    1111. 

  1111. part of execution chain, then task <B>will not</B> be enabled.</P>
    1112. 

  1112. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1113. 

  1113. </P>
    1114. 

  1114. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1115. 

  1115. </B>enable() invokes task’s <B>OnEnable</B> method (if not NULL)
    1116. 

  1116. <B>immediately</B>, which can prepare task for execution. <B>OnEnable</B>
    1117. 

  1117. must return a value of <B>true</B> for task to be enabled. If
    1118. 

  1118. <B>OnEnable</B> returns <B>false</B>, task remains disabled. 
    1119. 

  1119. <B>OnEnable</B> is invoked every time <B>enable</B> is called,
    1120. 

  1120. regardless if task is already enabled or not. Alignment to current
    1121. 

  1121. millis() is performed after <B>OnEnable</B> exits, so any changes to
    1122. 

  1122. the interval inside <B>OnEnable</B> is taken into consideration.</P>
    1123. 

  1123. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">TaskScheduler
    1124. 

  1124. allows tasks to be added to the a Scheduler and enabled at the time
    1125. 

  1125. of creation. <B>Be very careful</B><SPAN STYLE="font-weight: normal">
    1126. 

  1126. with such tasks – the </SPAN><B>OnEnable </B><SPAN STYLE="font-weight: normal">method
    1127. 

  1127. will be executed immediately, while certain objects (i.e., other
    1128. 

  1128. Tasks, libraries) are not yet ready (e.g., </SPAN><B>Wire.begin()</B><SPAN STYLE="font-weight: normal">
    1129. 

  1129. was not yet called), or hardware not yet activated (pins not set to
    1130. 

  1130. INPUT or OUTPUT). </SPAN>
    1131. 

  1131. </P>
    1132. 

  1132. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><SPAN STYLE="font-weight: normal">It
    1133. 

  1133. is very much recommended to to enable all tasks at the end of </SPAN><B>setup()</B><SPAN STYLE="font-weight: normal">
    1134. 

  1134. method after all initializations are done. </SPAN>
    1135. 

  1135. </P>
    1136. 

  1136. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><SPAN STYLE="font-weight: normal">If
    1137. 

  1137. you require immediate execution of already enabled task, use
    1138. 

  1138. </SPAN><B>forceNextIteratoin</B><SPAN STYLE="font-weight: normal">()
    1139. 

  1139. method instead of </SPAN><B>enable</B><SPAN STYLE="font-weight: normal">():
    1140. 

  1140. it achieves the result, but does not call </SPAN><B>OnEnable</B><SPAN STYLE="font-weight: normal">
    1141. 

  1141. method. </SPAN>
    1142. 

  1142. </P>
    1143. 

  1143. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1144. 

  1144. </P>
    1145. 

  1145. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:</B>
    1146. 

  1146. in the event <B>enable</B>() method is called inside the <B>OnEnable</B>
    1147. 

  1147. callback method (thus basically creating indefinte loop),
    1148. 

  1148. TaskScheduler will only call <B>OnEnable</B> once (thus protecting
    1149. 

  1149. the Task against <B>OnEnable</B> infinite loop). 
    1150. 

  1150. </P>
    1151. 

  1151. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1152. 

  1152. </P>
    1153. 

  1153. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-before: auto; page-break-after: avoid">
    1154. 

  1154. <B>bool enableIfNot();</B></P>
    1155. 

  1155. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1156. 

  1156. <BR>
    1157. 

  1157. </P>
    1158. 

  1158. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1159. 

  1159. the task only if it was previously disabled. Returns previous enable
    1160. 

  1160. state: <B>true</B> if task was already enabled, and <B>false</B> if
    1161. 

  1161. task was disabled. Since <B>enable() </B>schedules Task for execution
    1162. 

  1162. immediately, this method provides a way to activate tasks and
    1163. 

  1163. schedule them for immediate execution only if they are not active
    1164. 

  1164. already.</P>
    1165. 

  1165. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1166. 

  1166. </P>
    1167. 

  1167. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
    1168. 

  1168. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1169. 

  1169. </P>
    1170. 

  1170. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
    1171. 

  1171. the task for execution after a delay (aInterval), but does not change
    1172. 

  1172. the enabled/disabled status of the task. 
    1173. 

  1173. </P>
    1174. 

  1174. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1175. 

  1175. </P>
    1176. 

  1176. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    1177. 

  1177. </B>a delay of 0 (zero) will delay task for current execution
    1178. 

  1178. interval. Use <B>forceNextIteration() </B>method to force execution
    1179. 

  1179. of the task’s callback during immediate next scheduling pass. 
    1180. 

  1180. </P>
    1181. 

  1181. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1182. 

  1182. </P>
    1183. 

  1183. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1184. 

  1184. forceNextIteration();</B></P>
    1185. 

  1185. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1186. 

  1186. </P>
    1187. 

  1187. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
    1188. 

  1188. the task for execution during immediate next scheduling pass.</P>
    1189. 

  1189. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1190. 

  1190. Task must be already <I>enabled</I> prior to this method. 
    1191. 

  1191. </P>
    1192. 

  1192. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1193. 

  1193. </P>
    1194. 

  1194. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1195. 

  1195. </B>Task’s schedule is adjusted to run from this moment in time.
    1196. 

  1196. For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
    1197. 

  1197. calling <B>forceNextIteration </B>at 44th second of task execution
    1198. 

  1198. will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
    1199. 

  1199. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1200. 

  1200. </P>
    1201. 

  1201. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1202. 

  1202. enableDelayed();</B></P>
    1203. 

  1203. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1204. 

  1204. </P>
    1205. 

  1205. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1206. 

  1206. the task, and schedules it for execution after task's current
    1207. 

  1207. scheduling interval (aInterval). 
    1208. 

  1208. </P>
    1209. 

  1209. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1210. 

  1210. </P>
    1211. 

  1211. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
    1212. 

  1212. (unsigned long aDelay);</B></P>
    1213. 

  1213. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1214. 

  1214. </P>
    1215. 

  1215. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    1216. 

  1216. the task, and schedules it for execution after a specific delay
    1217. 

  1217. (aDelay, which maybe different from aInterval). 
    1218. 

  1218. </P>
    1219. 

  1219. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1220. 

  1220. </P>
    1221. 

  1221. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restart();</B></P>
    1222. 

  1222. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1223. 

  1223. </P>
    1224. 

  1224. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
    1225. 

  1225. tasks with limited number of iterations only, <B>restart</B> method
    1226. 

  1226. will re-enable the task, set the number of iterations back to last
    1227. 

  1227. set value, and schedule task for execution as soon as possible.</P>
    1228. 

  1228. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1229. 

  1229. </P>
    1230. 

  1230. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restartDelayed
    1231. 

  1231. (unsigned long aDelay);</B></P>
    1232. 

  1232. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1233. 

  1233. </P>
    1234. 

  1234. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Same
    1235. 

  1235. as <B>restart()</B> method, with the only difference being that Task
    1236. 

  1236. is scheduled to run first iteration after a delay = <B>aDelay</B>
    1237. 

  1237. milliseconds.</P>
    1238. 

  1238. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1239. 

  1239. </P>
    1240. 

  1240. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
    1241. 

  1241. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1242. 

  1242. </P>
    1243. 

  1243. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Disables
    1244. 

  1244. the task. Scheduler will not execute this task any longer, even if it
    1245. 

  1245. remains in the chain.  Task <B>can</B> be later re-enabled for
    1246. 

  1246. execution. 
    1247. 

  1247. </P>
    1248. 

  1248. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Return
    1249. 

  1249. previous enabled state: <B>true</B> if task was enabled prior to
    1250. 

  1250. calling disable, and <B>false</B> otherwise.</P>
    1251. 

  1251. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1252. 

  1252. not NULL, task’s <B>OnDisable</B> method is invoked <B>immediately</B>.
    1253. 

  1253. <B>OnDisable</B> is invoked only if task was in enabled state. 
    1254. 

  1254. Calling <B>disable</B> 3 times for instance will invoke <B>OnDisable</B>
    1255. 

  1255. only once.</P>
    1256. 

  1256. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1257. 

  1257. </P>
    1258. 

  1258. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void set(unsigned
    1259. 

  1259. long aInterval, long aIterations, void (*aCallback)() , bool
    1260. 

  1260. (*aOnEnable)() , void (*aOnDisable)());</B></P>
    1261. 

  1261. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1262. 

  1262. </P>
    1263. 

  1263. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Allows
    1264. 

  1264. dynamic control of task execution parameters in one method call. 
    1265. 

  1265. </P>
    1266. 

  1266. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B><B>:
    1267. 

  1267. </B>OnEnable and OnDisable parameters can be omitted. In that case
    1268. 

  1268. they will be assigned to <B>NULL</B> and respective methods will no
    1269. 

  1269. longer be called. Therefore it is advisable to use either all five
    1270. 

  1270. parameters explicitly, or employ individual “setter” methods
    1271. 

  1271. below instead. 
    1272. 

  1272. </P>
    1273. 

  1273. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1274. 

  1274. </P>
    1275. 

  1275. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1276. 

  1276. Next five “setter” methods allow changes of individual task
    1277. 

  1277. execution control parameters. 
    1278. 

  1278. </P>
    1279. 

  1279. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1280. 

  1280. setInterval (unsigned long aInterval) </B>
    1281. 

  1281. </P>
    1282. 

  1282. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1283. 

  1283. setIterations (long aIterations) </B>
    1284. 

  1284. </P>
    1285. 

  1285. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1286. 

  1286. setCallback (void (*aCallback)()) </B>
    1287. 

  1287. </P>
    1288. 

  1288. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1289. 

  1289. setOnEnable (bool (*aCallback)()) </B>
    1290. 

  1290. </P>
    1291. 

  1291. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    1292. 

  1292. setOnDisable (void (*aCallback)()) </B>
    1293. 

  1293. </P>
    1294. 

  1294. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1295. 

  1295. </P>
    1296. 

  1296. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Next
    1297. 

  1297. execution time calculation takes place <B>after</B> the callback
    1298. 

  1298. method is called, so new interval will be used immediately by the
    1299. 

  1299. scheduler. For the situations when one task is changing the interval
    1300. 

  1300. parameter for the other, <B>setInterval</B> method calls <B>delay
    1301. 

  1301. </B>explicitly to guarantee schedule change, however it <B>does not
    1302. 

  1302. </B>enable the task if task is disabled.</P>
    1303. 

  1303. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Tasks that
    1304. 

  1304. ran through all their allocated iterations are disabled.
    1305. 

  1305. <B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
    1306. 

  1306. <B>enable</B> explicitly, or use <B>restart</B> methods. 
    1307. 

  1307. </P>
    1308. 

  1308. <P CLASS="western" STYLE="margin-bottom: 0in">Please note that as a
    1309. 

  1309. result execution of the taks is <B>delayed</B><SPAN STYLE="font-weight: normal">
    1310. 

  1310. by the provided interval. If immediate invocation is required, call
    1311. 

  1311. </SPAN><B>forceNextIteration</B><SPAN STYLE="font-weight: normal">()
    1312. 

  1312. method after setting a new interval. </SPAN>
    1313. 

  1313. </P>
    1314. 

  1314. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1315. 

  1315. </P>
    1316. 

  1316. <P CLASS="western" STYLE="margin-bottom: 0in"><B>STATUS REQUEST
    1317. 

  1317. METHODS:</B></P>
    1318. 

  1318. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1319. 

  1319. <BR>
    1320. 

  1320. </P>
    1321. 

  1321. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1322. 

  1322. <B>void waitFor(StatusRequest* aStatusRequest, unsigned long
    1323. 

  1323. aInterval = 0, long aIterations = 1)</B></P>
    1324. 

  1324. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1325. 

  1325. <B>void waitForDelayed(StatusRequest* aStatusRequest, unsigned long
    1326. 

  1326. aInterval = 0, long aIterations = 1)</B></P>
    1327. 

  1327. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1328. 

  1328. <BR>
    1329. 

  1329. </P>
    1330. 

  1330. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1331. 

  1331. compiled with support for Status Requests, these methods make task
    1332. 

  1332. wait for the completion of <B>aStatusRequest</B> event. 
    1333. 

  1333. </P>
    1334. 

  1334. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
    1335. 

  1335. default <B>waitFor() </B>sets tasks interval to <B>0 (zero)</B> for
    1336. 

  1336. immediate execution when event happens, and also sets the number of
    1337. 

  1337. <B>iterations to 1</B>. However, you can specify different interval
    1338. 

  1338. and number of iterations. 
    1339. 

  1339. </P>
    1340. 

  1340. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
    1341. 

  1341. default <B>waitForDelayed() </B>sets tasks interval to a supplied
    1342. 

  1342. value or (if omitted or zero) keeps the current interval, so delayed
    1343. 

  1343. execution will take place when the event happens.  It also sets the
    1344. 

  1344. number of <B>iterations to 1</B> by default if not supplied.  
    1345. 

  1345. </P>
    1346. 

  1346. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">When
    1347. 

  1347. Status Request object completes, all tasks waiting on it are executed
    1348. 

  1348. during next scheduling pass. Tasks waiting via <B>waitFor</B>()
    1349. 

  1349. method are executed immediately. Tasks waiting via <B>waitForDelayed</B>()
    1350. 

  1350. method are activated, but executed after current or supplied interval
    1351. 

  1351. delay. 
    1352. 

  1352. </P>
    1353. 

  1353. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1354. 

  1354. aStatusRequest</B> should be “activated” by calling <B>setWaiting()
    1355. 

  1355. </B>method before making a task wait on it. Otherwise, the task will
    1356. 

  1356. execute immediately. 
    1357. 

  1357. </P>
    1358. 

  1358. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1359. 

  1359. sequence of events to use Status Request object is as follows:</P>
    1360. 

  1360. <OL>
    1361. 

  1361. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Create a status
    1362. 

  1362. 	request object</P>
    1363. 

  1363. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Activate status
    1364. 

  1364. 	request object (calling its <B>setWaiting</B>() method)</P>
    1365. 

  1365. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Set up tasks to
    1366. 

  1366. 	wait of the event completion</P>
    1367. 

  1367. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Signal completion
    1368. 

  1368. 	of event(s)</P>
    1369. 

  1369. </OL>
    1370. 

  1370. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1371. 

  1371. </P>
    1372. 

  1372. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1373. 

  1373. </P>
    1374. 

  1374. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
    1375. 

  1375. getStatusRequest()</B></P>
    1376. 

  1376. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1377. 

  1377. a StatusReqeust object this Task was waiting on. 
    1378. 

  1378. </P>
    1379. 

  1379. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1380. 

  1380. </P>
    1381. 

  1381. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1382. 

  1382. </P>
    1383. 

  1383. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1384. 

  1384. <B>TASK ID, CONTROL POINTS METHODS:</B></P>
    1385. 

  1385. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1386. 

  1386. <BR>
    1387. 

  1387. </P>
    1388. 

  1388. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1389. 

  1389. <B>void setId(unsigned int aID);</B></P>
    1390. 

  1390. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1391. 

  1391. <BR>
    1392. 

  1392. </P>
    1393. 

  1393. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1394. 

  1394. compiled with support for Task IDs, this method will set the task ID
    1395. 

  1395. explicitly. 
    1396. 

  1396. </P>
    1397. 

  1397. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Calling
    1398. 

  1398. this method is not necessary as task IDs are assigned automatically
    1399. 

  1399. during task creation: 1, 2, 3, …</P>
    1400. 

  1400. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1401. 

  1401. </P>
    1402. 

  1402. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1403. 

  1403. <B>unsigned int getId();</B></P>
    1404. 

  1404. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1405. 

  1405. <BR>
    1406. 

  1406. </P>
    1407. 

  1407. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1408. 

  1408. compiled with support for Task IDs, this method return current task’s
    1409. 

  1409. ID.</P>
    1410. 

  1410. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1411. 

  1411. </P>
    1412. 

  1412. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1413. 

  1413. <B>void setControlPoint (unsigned int aPoint);</B></P>
    1414. 

  1414. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1415. 

  1415. <BR>
    1416. 

  1416. </P>
    1417. 

  1417. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1418. 

  1418. compiled with support for Task IDs, this method will set a control
    1419. 

  1419. point in the task’s code. Control points are similar to “try…catch”
    1420. 

  1420. blocks, with control point ID specifying where in the code the “try”
    1421. 

  1421. part started, and a mechanism like watchdog timer providing the
    1422. 

  1422. “catch” functionality.</P>
    1423. 

  1423. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1424. 

  1424. </P>
    1425. 

  1425. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1426. 

  1426. <B>unsigned int getControlPoint()</B></P>
    1427. 

  1427. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1428. 

  1428. <BR>
    1429. 

  1429. </P>
    1430. 

  1430. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1431. 

  1431. If compiled with support for Task IDs, this method will return
    1432. 

  1432. currently set control point for this task.</P>
    1433. 

  1433. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1434. 

  1434. <BR>
    1435. 

  1435. </P>
    1436. 

  1436. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1437. 

  1437. <BR>
    1438. 

  1438. </P>
    1439. 

  1439. <P CLASS="western" STYLE="margin-bottom: 0in"><B>LOCAL TASK STORAGE
    1440. 

  1440. METHODS:</B></P>
    1441. 

  1441. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1442. 

  1442. <BR>
    1443. 

  1443. </P>
    1444. 

  1444. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1445. 

  1445. <B>void setLtsPointer(void *aPtr);</B></P>
    1446. 

  1446. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1447. 

  1447. <BR>
    1448. 

  1448. </P>
    1449. 

  1449. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1450. 

  1450. compiled with support for LTS, this method will set the task's local
    1451. 

  1451. storage pointer.</P>
    1452. 

  1452. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1453. 

  1453. </P>
    1454. 

  1454. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1455. 

  1455. <B>void *getLtsPointer();</B></P>
    1456. 

  1456. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1457. 

  1457. <BR>
    1458. 

  1458. </P>
    1459. 

  1459. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1460. 

  1460. compiled with support for LTS, this method will return reference to
    1461. 

  1461. the task's local storage.</P>
    1462. 

  1462. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1463. 

  1463. </B>the value returned has type (void *), and needs to be re-cast
    1464. 

  1464. into appropriate pointer type. Please refer to example sketches for
    1465. 

  1465. implementation options. 
    1466. 

  1466. </P>
    1467. 

  1467. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1468. 

  1468. </P>
    1469. 

  1469. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1470. 

  1470. </P>
    1471. 

  1471. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1472. 

  1472. <BR>
    1473. 

  1473. </P>
    1474. 

  1474. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1475. 

  1475. <FONT SIZE=4><B>TASK SCHEDULER:</B></FONT></P>
    1476. 

  1476. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1477. 

  1477. <BR>
    1478. 

  1478. </P>
    1479. 

  1479. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1480. 

  1480. <B>CREATION:</B></P>
    1481. 

  1481. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    1482. 

  1482. <BR>
    1483. 

  1483. </P>
    1484. 

  1484. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler()</B><BR><BR>
    1485. 

  1485. </P>
    1486. 

  1486. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    1487. 

  1487. constructor. 
    1488. 

  1488. </P>
    1489. 

  1489. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    1490. 

  1490. no parameters. Creates task scheduler with default parameters and an
    1491. 

  1491. empty task queue. 
    1492. 

  1492. </P>
    1493. 

  1493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1494. 

  1494. </P>
    1495. 

  1495. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void init()</B></P>
    1496. 

  1496. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1497. 

  1497. </P>
    1498. 

  1498. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Initializes
    1499. 

  1499. the task queue and scheduler parameters, Executed as part of
    1500. 

  1500. constructor, so don't need to be explicitly called after creation.</P>
    1501. 

  1501. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1502. 

  1502. </B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1503. 

  1503. enabled) scheduler is allowed to put processor to IDLE sleep mode. If
    1504. 

  1504. this behavior was changed via <B>allowSleep()</B> method, <B>inti()
    1505. 

  1505. </B>will <B>NOT</B> reset allow sleep particular parameter. 
    1506. 

  1506. </P>
    1507. 

  1507. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    1508. 

  1508. addTask(Task&amp; aTask)</B></P>
    1509. 

  1509. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1510. 

  1510. </P>
    1511. 

  1511. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Adds
    1512. 

  1512. task aTask to the execution queue (or chain) of tasks by appending it
    1513. 

  1513. to the end of the chain. If two tasks are scheduled for execution,
    1514. 

  1514. the sequence will match the order in which tasks were appended to the
    1515. 

  1515. chain. However, in reality, due to different timing of task
    1516. 

  1516. execution, the actual order may be different. 
    1517. 

  1517. </P>
    1518. 

  1518. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1519. 

  1519. </B>Currently, changing the execution sequence in a chain dynamically
    1520. 

  1520. is not supported. 
    1521. 

  1521. </P>
    1522. 

  1522. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1523. 

  1523. you need to reorder the chain sequence – initialize the scheduler
    1524. 

  1524. and re-add the tasks in a different order. 
    1525. 

  1525. </P>
    1526. 

  1526. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    1527. 

  1527. deleteTask(Task&amp; aTask)</B></P>
    1528. 

  1528. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1529. 

  1529. </P>
    1530. 

  1530. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Deletes
    1531. 

  1531. task aTask from the execution chain. The chain of remaining tasks is
    1532. 

  1532. linked together (i.e</P>
    1533. 

  1533. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">if
    1534. 

  1534. original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
    1535. 

  1535. 1 → 2 → 4).</P>
    1536. 

  1536. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1537. 

  1537. </B>it is not required to delete a task from the chain. A disabled
    1538. 

  1538. task will not be executed anyway, but you save a few microseconds per
    1539. 

  1539. scheduling pass by deleting it, since it is not even considered for
    1540. 

  1540. execution. 
    1541. 

  1541. </P>
    1542. 

  1542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">An
    1543. 

  1543. example of proper use of this method would be running some sort of
    1544. 

  1544. <B>initialize</B> task in the chain, and then deleting it from the
    1545. 

  1545. chain since it only needs to run once. 
    1546. 

  1546. </P>
    1547. 

  1547. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1548. 

  1548. </P>
    1549. 

  1549. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
    1550. 

  1550. aState) </B>
    1551. 

  1551. </P>
    1552. 

  1552. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1553. 

  1553. </P>
    1554. 

  1554. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Available
    1555. 

  1555. in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1556. 

  1556. enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
    1557. 

  1557. or not (<B>aState =false</B>) to put processor into IDLE sleep mode
    1558. 

  1558. in case not tasks are scheduled to run.</P>
    1559. 

  1559. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    1560. 

  1560. <B>default</B> behavior of scheduler upon creation is to allow sleep
    1561. 

  1561. mode. 
    1562. 

  1562. </P>
    1563. 

  1563. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void enableAll()</B></P>
    1564. 

  1564. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void disableAll()</B></P>
    1565. 

  1565. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1566. 

  1566. </P>
    1567. 

  1567. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">enables
    1568. 

  1568. and disables (respectively) all tasks in the chain. Convenient if
    1569. 

  1569. your need to enable/disable majority of the tasks (i.e. disable all
    1570. 

  1570. and then enable one). 
    1571. 

  1571. </P>
    1572. 

  1572. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1573. 

  1573. <BR><B>Task&amp; currentTask()<BR></B><BR>
    1574. 

  1574. </P>
    1575. 

  1575. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1576. 

  1576. reference to the task, currently executing via <B>execute()</B> loop
    1577. 

  1577. <B>OR </B>for OnEnable and OnDisable methods, reference to the task
    1578. 

  1578. being enabled or disabled. 
    1579. 

  1579. </P>
    1580. 

  1580. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">This
    1581. 

  1581. distinction is important because one task can activate the other, and
    1582. 

  1582. OnEnable should be referring to the task being enabled, not being
    1583. 

  1583. executed. 
    1584. 

  1584. </P>
    1585. 

  1585. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Could
    1586. 

  1586. be used by callback methods to identify which Task actually invoked
    1587. 

  1587. this callback method.</P>
    1588. 

  1588. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1589. 

  1589. </P>
    1590. 

  1590. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1591. 

  1591. <B>void* currentLts()<BR></B><BR>
    1592. 

  1592. </P>
    1593. 

  1593. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1594. 

  1594. pointer to Local Task Storage of the task, currently executing via
    1595. 

  1595. <B>execute()</B> loop <B>OR </B>for OnEnable and OnDisable methods,
    1596. 

  1596. task being enabled or disabled. 
    1597. 

  1597. </P>
    1598. 

  1598. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void execute()</B></P>
    1599. 

  1599. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1600. 

  1600. </P>
    1601. 

  1601. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Executes
    1602. 

  1602. one scheduling pass, including end-of-pass sleep. This method is
    1603. 

  1603. typically placed inside the <B>loop()</B> method of the sketch. Since
    1604. 

  1604. <B>execute</B> exits after every pass, you can put additional
    1605. 

  1605. statements after <B>execute</B> inside the <B>loop().</B></P>
    1606. 

  1606. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Generally,
    1607. 

  1607. execute will perform the following steps:</SPAN></P>
    1608. 

  1608. <OL>
    1609. 

  1609. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Ignore
    1610. 

  1610. 	task completely if it is disabled.</SPAN></P>
    1611. 

  1611. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Disable
    1612. 

  1612. 	task if it ran out of iterations (calling OnDesable, if necessary).</SPAN></P>
    1613. 

  1613. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Check
    1614. 

  1614. 	if task is waiting on a StatusRequest object, and make appropriate
    1615. 

  1615. 	scheduling arrangements</SPAN></P>
    1616. 

  1616. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Perform
    1617. 

  1617. 	necessary timing calculations (including millis() rollover fix, if
    1618. 

  1618. 	requested)</SPAN></P>
    1619. 

  1619. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Invoke
    1620. 

  1620. 	task's callback method, if it is time to do so, and one is provided.
    1621. 

  1621. 	</SPAN>
    1622. 

  1622. 	</P>
    1623. 

  1623. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><SPAN STYLE="font-weight: normal">Put
    1624. 

  1624. 	microcontroller to sleep (if requested and supported) if none of the
    1625. 

  1625. 	tasks were invoked. </SPAN>
    1626. 

  1626. 	</P>
    1627. 

  1627. </OL>
    1628. 

  1628. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1629. 

  1629. </P>
    1630. 

  1630. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Please
    1631. 

  1631. NOTE:</B><SPAN STYLE="font-weight: normal"> schedule-related
    1632. 

  1632. calculations are performed prior to task's callback method
    1633. 

  1633. invocation. This allows tasks to manipulate their runtime parameters
    1634. 

  1634. (like execution interval) directly.</SPAN></P>
    1635. 

  1635. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1636. 

  1636. </P>
    1637. 

  1637. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool isOverrun()</B></P>
    1638. 

  1638. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    1639. 

  1639. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    1640. 

  1640. enabled, this method returns <B>true</B> if currently invoked task
    1641. 

  1641. has overrun its scheduled start time when it was invoked. Returns
    1642. 

  1642. <B>false</B> if task has been invoked according to schedule.</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-left: 0.49in; margin-bottom: 0in"><BR>
    1646. 

  1646. </P>
    1647. 

  1647. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1648. 

  1648. <B>STATUS REQUEST:</B></P>
    1649. 

  1649. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1650. 

  1650. <BR>
    1651. 

  1651. </P>
    1652. 

  1652. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1653. 

  1653. <B>CREATION:</B></P>
    1654. 

  1654. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1655. 

  1655. <BR>
    1656. 

  1656. </P>
    1657. 

  1657. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
    1658. 

  1658. </P>
    1659. 

  1659. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    1660. 

  1660. constructor. 
    1661. 

  1661. </P>
    1662. 

  1662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    1663. 

  1663. no parameters. Creates Status Request object, which is assigned a
    1664. 

  1664. status of “completed” on creation. 
    1665. 

  1665. </P>
    1666. 

  1666. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1667. 

  1667. </P>
    1668. 

  1668. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    1669. 

  1669. setWaiting(unsigned int aCount = 1)</B></P>
    1670. 

  1670. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Activates
    1671. 

  1671. Status Request object. By default each object is set to wait on one
    1672. 

  1672. event only, however, if <B>aCount</B> is supplied, Status Request can
    1673. 

  1673. wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
    1674. 

  1674. on three signals. An example could be waiting for completion of
    1675. 

  1675. measurements from 3 sensors. 
    1676. 

  1676. </P>
    1677. 

  1677. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1678. 

  1678. </P>
    1679. 

  1679. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signal(int
    1680. 

  1680. aStatus)</B></P>
    1681. 

  1681. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
    1682. 

  1682. completion of the event to the Status Request object, and passes a
    1683. 

  1683. completion code, which could be interrogated later. 
    1684. 

  1684. </P>
    1685. 

  1685. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    1686. 

  1686. </B> passing a <B>negative</B> status code to the status request
    1687. 

  1687. object is considered reporting an error condition, and will complete
    1688. 

  1688. the status request regardless of how many outstanding signals it is
    1689. 

  1689. still waiting for. 
    1690. 

  1690. </P>
    1691. 

  1691. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B>:
    1692. 

  1692. only the latest status code is kept.</P>
    1693. 

  1693. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1694. 

  1694. </P>
    1695. 

  1695. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
    1696. 

  1696. (int aStatus)</B></P>
    1697. 

  1697. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
    1698. 

  1698. completion of <B>ALL</B> events to the Status Request object, and
    1699. 

  1699. passes a completion code, which could be interrogated later. The
    1700. 

  1700. status request completes regardless of how many events it is still
    1701. 

  1701. waiting on. 
    1702. 

  1702. </P>
    1703. 

  1703. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1704. 

  1704. </P>
    1705. 

  1705. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
    1706. 

  1706. </P>
    1707. 

  1707. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1708. 

  1708. <B>true</B> if status request is still waiting for event or events to
    1709. 

  1709. happen.</P>
    1710. 

  1710. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1711. 

  1711. </P>
    1712. 

  1712. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
    1713. 

  1713. </P>
    1714. 

  1714. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1715. 

  1715. <B>true</B> if status has completed.</P>
    1716. 

  1716. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1717. 

  1717. </P>
    1718. 

  1718. <P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
    1719. 

  1719. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1720. 

  1720. the status code passed to the status request object by the <B>signal()
    1721. 

  1721. </B>and <B>signalComplete() </B>methods. 
    1722. 

  1722. </P>
    1723. 

  1723. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
    1724. 

  1724. <B>positive</B> number is considered a successful completion status.</P>
    1725. 

  1725. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">A
    1726. 

  1726. 0 (zero) is considered a default successful completion status.</P>
    1727. 

  1727. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
    1728. 

  1728. <B>negative</B> number is considered an error code and unsuccessful
    1729. 

  1729. completion of a request.</P>
    1730. 

  1730. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1731. 

  1731. </P>
    1732. 

  1732. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1733. 

  1733. </P>
    1734. 

  1734. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1735. 

  1735. </P>
    1736. 

  1736. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1737. 

  1737. <B>CONSTANTS:</B></P>
    1738. 

  1738. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1739. 

  1739. </P>
    1740. 

  1740. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1741. 

  1741. <B>TASK_SECOND	(1000)</B></P>
    1742. 

  1742. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1743. 

  1743. interval of 1 second</P>
    1744. 

  1744. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1745. 

  1745. </P>
    1746. 

  1746. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1747. 

  1747. <B>TASK_MINUTE	(60000)</B></P>
    1748. 

  1748. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1749. 

  1749. interval of 1 minute</P>
    1750. 

  1750. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1751. 

  1751. </P>
    1752. 

  1752. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1753. 

  1753. <B>TASK_HOUR		(3600000)</B></P>
    1754. 

  1754. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1755. 

  1755. interval of 1 hour</P>
    1756. 

  1756. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1757. 

  1757. <B>TASK_FOREVER	(-1)</B></P>
    1758. 

  1758. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1759. 

  1759. number of iterations for infinite number of iterations</P>
    1760. 

  1760. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1761. 

  1761. </P>
    1762. 

  1762. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1763. 

  1763. <B>TASK_ONCE		(1)</B></P>
    1764. 

  1764. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1765. 

  1765. single iteration</P>
    1766. 

  1766. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1767. 

  1767. </P>
    1768. 

  1768. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1769. 

  1769. <B>TASK_IMMEDIATE	(0)</B></P>
    1770. 

  1770. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1771. 

  1771. interval for immediate execution</P>
    1772. 

  1772. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1773. 

  1773. </P>
    1774. 

  1774. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1775. 

  1775. </P>
    1776. 

  1776. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-before: always; page-break-after: avoid">
    1777. 

  1777. <B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
    1778. 

  1778. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1779. 

  1779. </P>
    1780. 

  1780. <OL>
    1781. 

  1781. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><B>EVENT DRIVEN
    1782. 

  1782. 	PROGRAMMING</B></P>
    1783. 

  1783. </OL>
    1784. 

  1784. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1785. 

  1785. </P>
    1786. 

  1786. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
    1787. 

  1787. of your application becomes a separate and distinct programming area,
    1788. 

  1788. which may or may not interact and control each other. 
    1789. 

  1789. </P>
    1790. 

  1790. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1791. 

  1791. </P>
    1792. 

  1792. <P CLASS="western" STYLE="margin-bottom: 0in">Example: 
    1793. 

  1793. </P>
    1794. 

  1794. <P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
    1795. 

  1795. system you need to measure soil humidity, control pump and display
    1796. 

  1796. the results</P>
    1797. 

  1797. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
    1798. 

  1798. becomes a task:</P>
    1799. 

  1799. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1800. 

  1800. </P>
    1801. 

  1801. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1802. 

  1802. <B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, TASK_FOREVER,
    1803. 

  1803. &amp;measureCallback);<BR>Task <B>tWater</B>  
    1804. 

  1804. (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
    1805. 

  1805. <B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, TASK_FOREVER,
    1806. 

  1806. &amp;displayCallback); <BR></FONT></FONT><BR>
    1807. 

  1807. </P>
    1808. 

  1808. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1809. 

  1809. </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>
    1810. 

  1810. </P>
    1811. 

  1811. <P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
    1812. 

  1812. on the pump, you keep it running for TWATER_INTERVAL interval and
    1813. 

  1813. then turn it off. Turning off a pump is also a task which only needs
    1814. 

  1814. to run once for every time the pump is turned on:</P>
    1815. 

  1815. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1816. 

  1816. </P>
    1817. 

  1817. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1818. 

  1818. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
    1819. 

  1819. (WATERTIME*SECOND, TASK_ONCE,</FONT></FONT><FONT FACE="Courier New, monospace">
    1820. 

  1820. &amp;waterOffCallback);</FONT><BR><BR>
    1821. 

  1821. </P>
    1822. 

  1822. <P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
    1823. 

  1823. method:</P>
    1824. 

  1824. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1825. 

  1825. </P>
    1826. 

  1826. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1827. 

  1827. waterOffCallback() {<BR>    motorOff();<BR>   
    1828. 

  1828. tWater.enableDelayed();<BR>}</FONT></FONT></P>
    1829. 

  1829. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1830. 

  1830. </P>
    1831. 

  1831. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
    1832. 

  1832. <P CLASS="western" STYLE="margin-left: 0.49in; 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. waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
    1836. 

  1836. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1837. 

  1837. If this is not the last iteration = turn the pump on<BR>     
    1838. 

  1838. motorOn();<BR>      tWaterOff.set(parameters.watertime * TASK_SECOND,
    1839. 

  1839. TASK_ONCE, &amp;waterOffCallback);<BR>     
    1840. 

  1840. tWaterOff.enableDelayed();<BR>      return;<BR>    }</FONT></FONT></P>
    1841. 

  1841. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1842. 

  1842. We could not reach target humidity – something is wrong<BR>   
    1843. 

  1843. motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
    1844. 

  1844. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1845. 

  1845. </P>
    1846. 

  1846. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
    1847. 

  1847. sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
    1848. 

  1848. </P>
    1849. 

  1849. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1850. 

  1850. </B>please note that tWater is <B>not</B> activated during setup().
    1851. 

  1851. It is activated by tMeasure callback once the watering conditions are
    1852. 

  1852. met. </FONT>
    1853. 

  1853. </P>
    1854. 

  1854. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1855. 

  1855. </P>
    1856. 

  1856. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=2><FONT FACE="Times New Roman, serif">	void
    1857. 

  1857. </FONT><FONT FACE="Courier New, monospace">setup()</FONT></FONT></P>
    1858. 

  1858. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	
    1859. 

  1859.  ...</FONT></FONT></P>
    1860. 

  1860. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1861. 

  1861. <FONT SIZE=2><FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
    1862. 

  1862.  tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
    1863. 

  1863. taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
    1864. 

  1864. taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
    1865. 

  1865. taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
    1866. 

  1866. tDisplay.enable();<BR><BR>  currentHumidity =
    1867. 

  1867. measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
    1868. 

  1868. taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT></FONT><BR>
    1869. 

  1869. </P>
    1870. 

  1870. <OL START=2>
    1871. 

  1871. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">“<FONT FACE="Times New Roman, serif"><B>NATIVE”
    1872. 

  1872. 	SUPPORT FOR FINITE STATE MACHINE</B></FONT></P>
    1873. 

  1873. </OL>
    1874. 

  1874. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1875. 

  1875. </P>
    1876. 

  1876. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
    1877. 

  1877. “states” as callback method or methods. Each callback method
    1878. 

  1878. executes activities specific to a “state” and then “transitions”
    1879. 

  1879. to the next state by assigning next callback method to the task. </FONT>
    1880. 

  1880. </P>
    1881. 

  1881. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
    1882. 

  1882. from one state to the next is achieved by setting next callback
    1883. 

  1883. method at the end of preceding one. </FONT>
    1884. 

  1884. </P>
    1885. 

  1885. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1886. 

  1886. </B>do not call the next callback method explicitly. Yield to the
    1887. 

  1887. scheduler, and let the scheduler take care of next iteration during
    1888. 

  1888. the next pass. (Thus giving other tasks change to run their callback
    1889. 

  1889. methods). </FONT>
    1890. 

  1890. </P>
    1891. 

  1891. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1892. 

  1892. </P>
    1893. 

  1893. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1894. 

  1894. Blinking LED 2 times a second could be achieved this way</FONT></P>
    1895. 

  1895. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1896. 

  1896. </P>
    1897. 

  1897. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1898. 

  1898. ts;</FONT></FONT></P>
    1899. 

  1899. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1900. 

  1900. tLedBlinker (500, TASK_FOREVER, &amp;ledOnCallback, &amp;ts, true);</FONT></FONT></P>
    1901. 

  1901. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1902. 

  1902. </P>
    1903. 

  1903. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1904. 

  1904.  ledOnCallback() {</FONT></FONT></P>
    1905. 

  1905. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOn();</FONT></FONT></P>
    1906. 

  1906. <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>
    1907. 

  1907. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1908. 

  1908. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1909. 

  1909. </P>
    1910. 

  1910. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1911. 

  1911.  ledOffCallback() {</FONT></FONT></P>
    1912. 

  1912. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOff();</FONT></FONT></P>
    1913. 

  1913. <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>
    1914. 

  1914. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1915. 

  1915. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1916. 

  1916. </P>
    1917. 

  1917. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>setup()
    1918. 

  1918. {</FONT></FONT></P>
    1919. 

  1919. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1920. 

  1920. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1921. 

  1921. </P>
    1922. 

  1922. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>loop
    1923. 

  1923. () {</FONT></FONT></P>
    1924. 

  1924. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	ts.execute();</FONT></FONT></P>
    1925. 

  1925. <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>
    1926. 

  1926. </P>
    1927. 

  1927. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
    1928. 

  1928. the example is simple, but gives the idea of how the tasks could be
    1929. 

  1929. used to go through states.</FONT></P>
    1930. 

  1930. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1931. 

  1931. </P>
    1932. 

  1932. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1933. 

  1933. </P>
    1934. 

  1934. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1935. 

  1935. </P>
    1936. 

  1936. <OL START=3>
    1937. 

  1937. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>MULTIPLE
    1938. 

  1938. 	POSSIBLE CALLBACKS FOR TASK</B></FONT></P>
    1939. 

  1939. </OL>
    1940. 

  1940. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1941. 

  1941. </P>
    1942. 

  1942. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
    1943. 

  1943. may be a need to select an option for callback method based on
    1944. 

  1944. certain criteria, or randomly. </FONT>
    1945. 

  1945. </P>
    1946. 

  1946. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1947. 

  1947. can achieve that by defining an array of callback method pointers and
    1948. 

  1948. selecting one based on the criteria you need. </FONT>
    1949. 

  1949. </P>
    1950. 

  1950. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1951. 

  1951. when a robot detects an obstacle, it may go left, right backwards,
    1952. 

  1952. etc. Each of the “directions” or “behaviors” are represented
    1953. 

  1953. by a different callback methods. </FONT>
    1954. 

  1954. </P>
    1955. 

  1955. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1956. 

  1956. </P>
    1957. 

  1957. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
    1958. 

  1958. example of using multiple callbacks:</FONT></P>
    1959. 

  1959. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1960. 

  1960. may need to “initialize” variables for a particular task.</FONT></P>
    1961. 

  1961. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1962. 

  1962. this case, define a tasks with two callbacks:</FONT></P>
    1963. 

  1963. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1964. 

  1964. </P>
    1965. 

  1965. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1966. 

  1966. <B>tWork</B> (T_INTERVAL, TASK_FOREVER, &amp;workCallbackInit);</FONT></FONT></P>
    1967. 

  1967. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">…</P>
    1968. 

  1968. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1969. 

  1969. </P>
    1970. 

  1970. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1971. 

  1971.  workCallbackInit() {</FONT></FONT></P>
    1972. 

  1972. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1973. 

  1973. do your initializationstuff here</FONT></FONT></P>
    1974. 

  1974. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    1975. 

  1975. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1976. 

  1976. finally assigne the main callback method </FONT></FONT>
    1977. 

  1977. </P>
    1978. 

  1978. <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>
    1979. 

  1979. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1980. 

  1980. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1981. 

  1981. </P>
    1982. 

  1982. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1983. 

  1983. workCallback() {</FONT></FONT></P>
    1984. 

  1984. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1985. 

  1985. main callback method</FONT></FONT></P>
    1986. 

  1986. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</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-bottom: 0in"><BR>
    1989. 

  1989. </P>
    1990. 

  1990. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1991. 

  1991. task will initialize during first execution pass and switch to
    1992. 

  1992. “regular” callback execution starting with second pass. There is
    1993. 

  1993. a delay between first and second passes of the task (scheduling
    1994. 

  1994. period, if defined). In order to execute the second pass immediately
    1995. 

  1995. after initialization first pass, change the above code like this:</FONT></P>
    1996. 

  1996. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1997. 

  1997. </P>
    1998. 

  1998. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1999. 

  1999.  workCallbackInit() {</FONT></FONT></P>
    2000. 

  2000. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    2001. 

  2001. do your initializationstuff here</FONT></FONT></P>
    2002. 

  2002. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    2003. 

  2003. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    2004. 

  2004. finally assigne the main callback method </FONT></FONT>
    2005. 

  2005. </P>
    2006. 

  2006. <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>
    2007. 

  2007. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
    2008. 

  2008. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2009. 

  2009. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2010. 

  2010. </P>
    2011. 

  2011. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    2012. 

  2012. task will run initialization first, then immediately second pass, and
    2013. 

  2013. then switch to processing at regular intervals starting with a third
    2014. 

  2014. pass. </FONT>
    2015. 

  2015. </P>
    2016. 

  2016. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2017. 

  2017. </P>
    2018. 

  2018. <OL START=3>
    2019. 

  2019. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN
    2020. 

  2020. 	EXECUTION SUPPORT </B></FONT>
    2021. 

  2021. 	</P>
    2022. 

  2022. </OL>
    2023. 

  2023. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2024. 

  2024. </P>
    2025. 

  2025. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    2026. 

  2026. case of interrupt-driven program flow, tasks could be scheduled to
    2027. 

  2027. run once to request asynchronous execution (request), and then
    2028. 

  2028. re-enabled (restarted) again with a different callback method to
    2029. 

  2029. process the results. </FONT>
    2030. 

  2030. </P>
    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"><B>Example</B>:
    2034. 

  2034. event driven distance calculation for ultrasonic pulses. EchoPin #6
    2035. 

  2035. triggers pin change interrupts on rising and falling edges to
    2036. 

  2036. determine the length of ultrasonic pulse.</FONT></P>
    2037. 

  2037. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2038. 

  2038. </P>
    2039. 

  2039. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2040. 

  2040. &lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
    2041. 

  2041. &lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
    2042. 

  2042. ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
    2043. 

  2043. pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
    2044. 

  2044. r;<BR><BR>Task  tMeasure(TASK_SECOND, TASK_FOREVER, &amp;measureCallback,
    2045. 

  2045. &amp;r, true);<BR>Task  tDisplay(TASK_SECOND, TASK_FOREVER,
    2046. 

  2046. &amp;displayCallback, &amp;r, true);<BR>Task  tPing(TASK_IMMEDIATE,
    2047. 

  2047. TASK_ONCE, &amp;pingCalcCallback, &amp;r, false);<BR><BR><BR>volatile
    2048. 

  2048. bool pulseBusy = false;<BR>volatile bool pulseTimeout =
    2049. 

  2049. false;<BR>volatile unsigned long pulseStart = 0;<BR>volatile unsigned
    2050. 

  2050. long pulseStop = 0;<BR>volatile unsigned long pingDistance =
    2051. 

  2051. 0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout) {<BR>  if
    2052. 

  2052. (pulseBusy) return;  // do not trigger if in the middle of a pulse<BR>
    2053. 

  2053.  if (pEcho == HIGH) return; // do not trigger if ECHO pin is high<BR>
    2054. 

  2054.  <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
    2055. 

  2055. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
    2056. 

  2056.  pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
    2057. 

  2057.  tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
    2058. 

  2058. pTrigger = LOW; <BR></FONT></FONT><BR>
    2059. 

  2059. </P>
    2060. 

  2060. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2061. 

  2061. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
    2062. 

  2062. // timeout countdown starts now<BR></FONT></FONT><BR>
    2063. 

  2063. </P>
    2064. 

  2064. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2065. 

  2065. will start the pulse clock on the rising edge of ECHO pin</FONT></FONT></P>
    2066. 

  2066. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2067. 

  2067. <FONT FACE="Courier New, monospace"><FONT SIZE=2>PCintPort::attachInterrupt(ECHOPIN,
    2068. 

  2068. &amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
    2069. 

  2069. </P>
    2070. 

  2070. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2071. 

  2071. Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
    2072. 

  2072. pingStartClock() {<BR>  pulseStart = micros();<BR> 
    2073. 

  2073. PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
    2074. 

  2074.  PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
    2075. 

  2075.  tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
    2076. 

  2076. edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
    2077. 

  2077. = micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
    2078. 

  2078. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2079. 

  2079. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
    2080. 

  2080. pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
    2081. 

  2081. // disable timeout<BR>}<BR></FONT></FONT><BR>
    2082. 

  2082. </P>
    2083. 

  2083. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2084. 

  2084. Stop clock because of the timeout – the wave did not return<BR>void
    2085. 

  2085. pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
    2086. 

  2086.  }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
    2087. 

  2087. callback sets the trigger<BR>void measureCallback() {<BR>  if
    2088. 

  2088. (pulseBusy) {  // already measuring, try again<BR>   
    2089. 

  2089. tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
    2090. 

  2090. milliseconds or max range of ~5.1 meters<BR> 
    2091. 

  2091. tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
    2092. 

  2092. </P>
    2093. 

  2093. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2094. 

  2094. Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
    2095. 

  2095. (pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
    2096. 

  2096. <BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
    2097. 

  2097.  char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
    2098. 

  2098. // cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
    2099. 

  2099. %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
    2100. 

  2100. cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
    2101. 

  2101. put your setup code here, to run once:<BR>  <BR> 
    2102. 

  2102. Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
    2103. 

  2103. LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
    2104. 

  2104. to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
    2105. 

  2105. </P>
    2106. 

  2106. <OL START=3>
    2107. 

  2107. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2108. 

  2108. 	ONENABLE AND ONDISBALE METHODS </B></FONT>
    2109. 

  2109. 	</P>
    2110. 

  2110. </OL>
    2111. 

  2111. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2112. 

  2112. </P>
    2113. 

  2113. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
    2114. 

  2114. a task to flash onboard LED for 5 seconds with random frequency. Task
    2115. 

  2115. should be repeated every 30 seconds indefinitely. Since frequency is
    2116. 

  2116. random, there are two challenges:</FONT></P>
    2117. 

  2117. <OL START=3>
    2118. 

  2118. 	<OL>
    2119. 

  2119. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    2120. 

  2120. 		need to make sure LED is turned OFF at the last iteration</FONT></P>
    2121. 

  2121. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    2122. 

  2122. 		need to calculate random frequency every time</FONT></P>
    2123. 

  2123. 	</OL>
    2124. 

  2124. </OL>
    2125. 

  2125. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2126. 

  2126. </P>
    2127. 

  2127. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Below
    2128. 

  2128. is the implementation using TaskScheduler </FONT>
    2129. 

  2129. </P>
    2130. 

  2130. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2131. 

  2131. </P>
    2132. 

  2132. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR></FONT></FONT><BR>
    2133. 

  2133. </P>
    2134. 

  2134. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2135. 

  2135. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    2136. 

  2136. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2137. 

  2137. &lt;TaskScheduler.h&gt;</FONT></FONT></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>#define
    2141. 

  2141.  LEDPIN    13</FONT></FONT></P>
    2142. 

  2142. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2143. 

  2143. </P>
    2144. 

  2144. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2145. 

  2145. </P>
    2146. 

  2146. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    2147. 

  2147. ts;</FONT></FONT></P>
    2148. 

  2148. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2149. 

  2149. </P>
    2150. 

  2150. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2151. 

  2151. tWrapper(30000, TASK_FOREVER, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
    2152. 

  2152. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2153. 

  2153. tBlink(5000, TASK_ONCE, NULL, &amp;ts, false, &amp;BlinkOnEnable,
    2154. 

  2154. &amp;BlinkOnDisable);</FONT></FONT></P>
    2155. 

  2155. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2156. 

  2156. tLED(TASK_IMMEDIATE, TASK_FOREVER, NULL, &amp;ts, false, NULL,
    2157. 

  2157. &amp;LEDOff);</FONT></FONT></P>
    2158. 

  2158. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2159. 

  2159. </P>
    2160. 

  2160. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2161. 

  2161. WrapperCallback() {</FONT></FONT></P>
    2162. 

  2162. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2163. 

  2163. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2164. 

  2164. WrapperCallback&quot;);</FONT></FONT></P>
    2165. 

  2165. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2166. 

  2166. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
    2167. 

  2167.   // LED blinking  is initiated </FONT></FONT>
    2168. 

  2168. </P>
    2169. 

  2169. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2170. 

  2170.             <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
    2171. 

  2171. 30 seconds for 5 seconds</FONT></FONT></P>
    2172. 

  2172. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2173. 

  2173. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2174. 

  2174. </P>
    2175. 

  2175. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2176. 

  2176. </P>
    2177. 

  2177. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2178. 

  2178. Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
    2179. 

  2179. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2180. 

  2180. and enable LED blinking task, which actually controls</FONT></FONT></P>
    2181. 

  2181. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2182. 

  2182. the hardware (LED in this example)</FONT></FONT></P>
    2183. 

  2183. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2184. 

  2184. BlinkOnEnable() {</FONT></FONT></P>
    2185. 

  2185. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2186. 

  2186. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2187. 

  2187. BlinkOnEnable&quot;);</FONT></FONT></P>
    2188. 

  2188. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2189. 

  2189. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
    2190. 

  2190. 500 + random(501) );</FONT></FONT></P>
    2191. 

  2191. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2192. 

  2192. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2193. 

  2193. &amp;LEDOn);</FONT></FONT></P>
    2194. 

  2194. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2195. 

  2195. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.enable();</FONT></FONT></P>
    2196. 

  2196. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2197. 

  2197. </P>
    2198. 

  2198. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2199. 

  2199. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
    2200. 

  2200. Task should be enabled</FONT></FONT></P>
    2201. 

  2201. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2202. 

  2202. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2203. 

  2203. </P>
    2204. 

  2204. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2205. 

  2205. tBlink does not really need a callback method</FONT></FONT></P>
    2206. 

  2206. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2207. 

  2207. since it just waits for 5 seconds for the first </FONT></FONT>
    2208. 

  2208. </P>
    2209. 

  2209. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2210. 

  2210. and only iteration to occur. Once the iteration</FONT></FONT></P>
    2211. 

  2211. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2212. 

  2212. takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
    2213. 

  2213. </P>
    2214. 

  2214. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2215. 

  2215. thus executing its OnDisable method below.</FONT></FONT></P>
    2216. 

  2216. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2217. 

  2217. </P>
    2218. 

  2218. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2219. 

  2219. BlinkOnDisable() {</FONT></FONT></P>
    2220. 

  2220. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2221. 

  2221. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2222. 

  2222. BlinkOnDisable&quot;);</FONT></FONT></P>
    2223. 

  2223. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2224. 

  2224. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
    2225. 

  2225. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2226. 

  2226. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2227. 

  2227. </P>
    2228. 

  2228. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2229. 

  2229. LEDOn () {</FONT></FONT></P>
    2230. 

  2230. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2231. 

  2231. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    2232. 

  2232. LEDOn&quot;);</FONT></FONT></P>
    2233. 

  2233. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2234. 

  2234. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    2235. 

  2235. HIGH);</FONT></FONT></P>
    2236. 

  2236. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2237. 

  2237. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2238. 

  2238. &amp;LEDOff);</FONT></FONT></P>
    2239. 

  2239. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2240. 

  2240. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2241. 

  2241. </P>
    2242. 

  2242. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2243. 

  2243. LEDOff () {</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>Serial.println(&quot;In
    2246. 

  2246. LEDOff&quot;);</FONT></FONT></P>
    2247. 

  2247. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2248. 

  2248. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    2249. 

  2249. LOW);</FONT></FONT></P>
    2250. 

  2250. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2251. 

  2251. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    2252. 

  2252. &amp;LEDOn);</FONT></FONT></P>
    2253. 

  2253. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2254. 

  2254. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2255. 

  2255. </P>
    2256. 

  2256. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2257. 

  2257. Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
    2258. 

  2258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2259. 

  2259. to make sure the LED is turned off when the tBlink</FONT></FONT></P>
    2260. 

  2260. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2261. 

  2261. task finishes (or disabled ahead of time)</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>void
    2265. 

  2265. setup() {</FONT></FONT></P>
    2266. 

  2266. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2267. 

  2267. </P>
    2268. 

  2268. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2269. 

  2269. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
    2270. 

  2270. </FONT></FONT>
    2271. 

  2271. </P>
    2272. 

  2272. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2273. 

  2273. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pinMode(LEDPIN,
    2274. 

  2274. OUTPUT); </FONT></FONT>
    2275. 

  2275. </P>
    2276. 

  2276. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2277. 

  2277. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2278. 

  2278. </P>
    2279. 

  2279. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2280. 

  2280. loop() {</FONT></FONT></P>
    2281. 

  2281. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2282. 

  2282. <FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
    2283. 

  2283. code here, to run repeatedly:</FONT></FONT></P>
    2284. 

  2284. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2285. 

  2285. </P>
    2286. 

  2286. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2287. 

  2287. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    2288. 

  2288. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2289. 

  2289. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2290. 

  2290. </P>
    2291. 

  2291. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2292. 

  2292. </P>
    2293. 

  2293. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2294. 

  2294. </P>
    2295. 

  2295. <OL START=3>
    2296. 

  2296. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2297. 

  2297. 	STATUS REQUEST OBJECTS  </B></FONT>
    2298. 

  2298. 	</P>
    2299. 

  2299. </OL>
    2300. 

  2300. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2301. 

  2301. </P>
    2302. 

  2302. <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
    2303. 

  2303. test emulates querying 3 sensors once every 10 seconds, each could
    2304. 

  2304. respond with a different delay (ultrasonic sensors for instance) and
    2305. 

  2305. printing a min value of the three when all three have reported their
    2306. 

  2306. values.</FONT></FONT></P>
    2307. 

  2307. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2308. 

  2308. </P>
    2309. 

  2309. <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
    2310. 

  2310. overall timeout of 1 second is setup as well.</FONT></FONT></P>
    2311. 

  2311. <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
    2312. 

  2312. error message needs to be printed if a timeout occurred instead of a
    2313. 

  2313. value.</FONT></FONT></P>
    2314. 

  2314. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2315. 

  2315. </P>
    2316. 

  2316. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2317. 

  2317. </P>
    2318. 

  2318. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2319. 

  2319. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    2320. 

  2320. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    2321. 

  2321. _TASK_STATUS_REQUEST</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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    2325. 

  2325. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    2326. 

  2326. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2327. 

  2327. </P>
    2328. 

  2328. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
    2329. 

  2329. measure;</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>Scheduler
    2333. 

  2333. ts; </FONT></FONT>
    2334. 

  2334. </P>
    2335. 

  2335. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2336. 

  2336. </P>
    2337. 

  2337. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2338. 

  2338. tCycle(10000, TASK_FOREVER, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
    2339. 

  2339. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2340. 

  2340. tMeasure(TASK_SECOND, TASK_ONCE, &amp;MeasureCallback, &amp;ts,
    2341. 

  2341. false, &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
    2342. 

  2342. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2343. 

  2343. tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
    2344. 

  2344. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    2345. 

  2345. tSensor1(TASK_IMMEDIATE, TASK_ONCE, &amp;S1Callback, &amp;ts, false,
    2346. 

  2346. &amp;S1Enable);</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. tSensor2(TASK_IMMEDIATE, TASK_ONCE, &amp;S2Callback, &amp;ts, false,
    2349. 

  2349. &amp;S2Enable);</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. tSensor3(TASK_IMMEDIATE, TASK_ONCE, &amp;S3Callback, &amp;ts, false,
    2352. 

  2352. &amp;S3Enable);</FONT></FONT></P>
    2353. 

  2353. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2354. 

  2354. </P>
    2355. 

  2355. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2356. 

  2356. </P>
    2357. 

  2357. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
    2358. 

  2358. distance, d1, d2, d3;</FONT></FONT></P>
    2359. 

  2359. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2360. 

  2360. </P>
    2361. 

  2361. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2362. 

  2362. CycleCallback() {</FONT></FONT></P>
    2363. 

  2363. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2364. 

  2364. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
    2365. 

  2365. Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></P>
    2366. 

  2366. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2367. 

  2367. </P>
    2368. 

  2368. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2369. 

  2369. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
    2370. 

  2370. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2371. 

  2371. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2372. 

  2372. </P>
    2373. 

  2373. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2374. 

  2374. </P>
    2375. 

  2375. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2376. 

  2376. </P>
    2377. 

  2377. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2378. 

  2378. MeasureEnable() {</FONT></FONT></P>
    2379. 

  2379. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2380. 

  2380. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureEnable:
    2381. 

  2381. Activating sensors&quot;);  </FONT></FONT>
    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"> 
    2386. 

  2386. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</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>measure.setWaiting(3);
    2389. 

  2389. // Set the StatusRequest to wait for 3 signals. </FONT></FONT>
    2390. 

  2390. </P>
    2391. 

  2391. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2392. 

  2392. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
    2393. 

  2393. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2394. 

  2394. </P>
    2395. 

  2395. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2396. 

  2396. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
    2397. 

  2397. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2398. 

  2398. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
    2399. 

  2399. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2400. 

  2400. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</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>return true;</FONT></FONT></P>
    2405. 

  2405. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2406. 

  2406. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2407. 

  2407. </P>
    2408. 

  2408. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2409. 

  2409. MeasureCallback() {</FONT></FONT></P>
    2410. 

  2410. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2411. 

  2411. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    2412. 

  2412. Invoked by calculate task or one second later&quot;);  </FONT></FONT>
    2413. 

  2413. </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"> 
    2417. 

  2417. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if
    2418. 

  2418. (measure.pending()) {</FONT></FONT></P>
    2419. 

  2419. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2420. 

  2420.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
    2421. 

  2421. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2422. 

  2422.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
    2423. 

  2423.  // signal error</FONT></FONT></P>
    2424. 

  2424. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2425. 

  2425.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    2426. 

  2426. Timeout!&quot;);</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>}</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>else {</FONT></FONT></P>
    2431. 

  2431. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2432. 

  2432.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
    2433. 

  2433. Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
    2434. 

  2434. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2435. 

  2435. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2436. 

  2436. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2437. 

  2437. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2438. 

  2438. </P>
    2439. 

  2439. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2440. 

  2440. MeasureDisable() {</FONT></FONT></P>
    2441. 

  2441. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2442. 

  2442. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
    2443. 

  2443. Cleaning up&quot;);  </FONT></FONT>
    2444. 

  2444. </P>
    2445. 

  2445. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2446. 

  2446. </P>
    2447. 

  2447. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2448. 

  2448. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</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>tSensor2.disable();</FONT></FONT></P>
    2451. 

  2451. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2452. 

  2452. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
    2453. 

  2453. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2454. 

  2454. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2455. 

  2455. </P>
    2456. 

  2456. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2457. 

  2457. </P>
    2458. 

  2458. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2459. 

  2459. CalcCallback() {</FONT></FONT></P>
    2460. 

  2460. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2461. 

  2461. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
    2462. 

  2462. calculating&quot;);  </FONT></FONT>
    2463. 

  2463. </P>
    2464. 

  2464. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2465. 

  2465. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
    2466. 

  2466. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2467. 

  2467. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
    2468. 

  2468. measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
    2469. 

  2469. ended successfully</FONT></FONT></P>
    2470. 

  2470. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2471. 

  2471.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d1 &lt;
    2472. 

  2472. d2 ? d1 : d2;</FONT></FONT></P>
    2473. 

  2473. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2474. 

  2474.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
    2475. 

  2475. distance ? d3 : distance;</FONT></FONT></P>
    2476. 

  2476. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2477. 

  2477.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</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>}</FONT></FONT></P>
    2480. 

  2480. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2481. 

  2481. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2482. 

  2482. </P>
    2483. 

  2483. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2484. 

  2484. </P>
    2485. 

  2485. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2486. 

  2486. Simulation code for sensor 1</FONT></FONT></P>
    2487. 

  2487. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2488. 

  2488.  ----------------------------</FONT></FONT></P>
    2489. 

  2489. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2490. 

  2490. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2491. 

  2491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2492. 

  2492. S1Enable() {</FONT></FONT></P>
    2493. 

  2493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2494. 

  2494. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
    2495. 

  2495. Triggering sensor1. Delay=&quot;);  </FONT></FONT>
    2496. 

  2496. </P>
    2497. 

  2497. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2498. 

  2498. </P>
    2499. 

  2499. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2500. 

  2500. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
    2501. 

  2501. random(1200) );  // Simulating sensor delay, which could go over 1
    2502. 

  2502. second and cause timeout</FONT></FONT></P>
    2503. 

  2503. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2504. 

  2504. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
    2505. 

  2505. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    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>Serial.println(
    2509. 

  2509. tSensor1.getInterval() );</FONT></FONT></P>
    2510. 

  2510. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2511. 

  2511. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2512. 

  2512. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2513. 

  2513. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2514. 

  2514. </P>
    2515. 

  2515. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2516. 

  2516. S1Callback() {</FONT></FONT></P>
    2517. 

  2517. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2518. 

  2518. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
    2519. 

  2519. Emulating measurement. d1=&quot;);  </FONT></FONT>
    2520. 

  2520. </P>
    2521. 

  2521. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2522. 

  2522. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
    2523. 

  2523. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2524. 

  2524. measurement </FONT></FONT>
    2525. 

  2525. </P>
    2526. 

  2526. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2527. 

  2527. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    2528. 

  2528. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    2529. 

  2529. </P>
    2530. 

  2530. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2531. 

  2531. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d1); </FONT></FONT>
    2532. 

  2532. </P>
    2533. 

  2533. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2534. 

  2534. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2535. 

  2535. </P>
    2536. 

  2536. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2537. 

  2537. </P>
    2538. 

  2538. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2539. 

  2539. Simulation code for sensor 2</FONT></FONT></P>
    2540. 

  2540. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2541. 

  2541.  ----------------------------</FONT></FONT></P>
    2542. 

  2542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2543. 

  2543. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2544. 

  2544. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2545. 

  2545. S2Enable() {</FONT></FONT></P>
    2546. 

  2546. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2547. 

  2547. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
    2548. 

  2548. Triggering sensor2. Delay=&quot;);  </FONT></FONT>
    2549. 

  2549. </P>
    2550. 

  2550. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2551. 

  2551. </P>
    2552. 

  2552. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2553. 

  2553. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
    2554. 

  2554. random(1200) );  // Simulating sensor delay, which could go over 1
    2555. 

  2555. second and cause timeout</FONT></FONT></P>
    2556. 

  2556. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2557. 

  2557. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</FONT></FONT></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>Serial.println(
    2562. 

  2562. tSensor2.getInterval() );</FONT></FONT></P>
    2563. 

  2563. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2564. 

  2564. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2565. 

  2565. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2569. 

  2569. S2Callback() {</FONT></FONT></P>
    2570. 

  2570. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2571. 

  2571. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
    2572. 

  2572. Emulating measurement. d2=&quot;);  </FONT></FONT>
    2573. 

  2573. </P>
    2574. 

  2574. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2575. 

  2575. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
    2576. 

  2576. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2577. 

  2577. measurement</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>measure.signal();</FONT></FONT></P>
    2580. 

  2580. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    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>Serial.println(d2); 
    2584. 

  2584. </FONT></FONT>
    2585. 

  2585. </P>
    2586. 

  2586. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2587. 

  2587. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2588. 

  2588. </P>
    2589. 

  2589. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2590. 

  2590. </P>
    2591. 

  2591. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2592. 

  2592. Simulation code for sensor 3</FONT></FONT></P>
    2593. 

  2593. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2594. 

  2594.  ----------------------------</FONT></FONT></P>
    2595. 

  2595. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2596. 

  2596. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2597. 

  2597. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    2598. 

  2598. S3Enable() {</FONT></FONT></P>
    2599. 

  2599. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2600. 

  2600. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
    2601. 

  2601. Triggering sensor3. Delay=&quot;);  </FONT></FONT>
    2602. 

  2602. </P>
    2603. 

  2603. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2604. 

  2604. </P>
    2605. 

  2605. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2606. 

  2606. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
    2607. 

  2607. random(1200) );  // Simulating sensor delay, which could go over 1
    2608. 

  2608. second and cause timeout</FONT></FONT></P>
    2609. 

  2609. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2610. 

  2610. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></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>Serial.println(
    2615. 

  2615. tSensor3.getInterval() );</FONT></FONT></P>
    2616. 

  2616. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2617. 

  2617. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    2618. 

  2618. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2622. 

  2622. S3Callback() {</FONT></FONT></P>
    2623. 

  2623. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2624. 

  2624. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
    2625. 

  2625. Emulating measurement. d3=&quot;);  </FONT></FONT>
    2626. 

  2626. </P>
    2627. 

  2627. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2628. 

  2628. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
    2629. 

  2629. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    2630. 

  2630. measurement</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>measure.signal();</FONT></FONT></P>
    2633. 

  2633. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    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>Serial.println(d3); </FONT></FONT>
    2637. 

  2637. </P>
    2638. 

  2638. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2639. 

  2639. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2640. 

  2640. </P>
    2641. 

  2641. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2642. 

  2642. </P>
    2643. 

  2643. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    2644. 

  2644. Main Arduino code</FONT></FONT></P>
    2645. 

  2645. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    2646. 

  2646.  Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
    2647. 

  2647. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    2648. 

  2648. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    2649. 

  2649. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2650. 

  2650. setup() {</FONT></FONT></P>
    2651. 

  2651. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2652. 

  2652. </P>
    2653. 

  2653. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2654. 

  2654. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</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>Serial.println(&quot;TaskScheduler
    2657. 

  2657. StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
    2658. 

  2658. </P>
    2659. 

  2659. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2660. 

  2660. <FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
    2661. 

  2661. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2662. 

  2662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2663. 

  2663. </P>
    2664. 

  2664. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2665. 

  2665. loop() {</FONT></FONT></P>
    2666. 

  2666. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2667. 

  2667. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    2668. 

  2668. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2669. 

  2669. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2670. 

  2670. </P>
    2671. 

  2671. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2672. 

  2672. </P>
    2673. 

  2673. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2674. 

  2674. </P>
    2675. 

  2675. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2676. 

  2676. </P>
    2677. 

  2677. <OL START=3>
    2678. 

  2678. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2679. 

  2679. 	LOCAL TASK STORAGE POINTER  </B></FONT>
    2680. 

  2680. 	</P>
    2681. 

  2681. </OL>
    2682. 

  2682. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2683. 

  2683. </P>
    2684. 

  2684. <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
    2685. 

  2685. can store a pointer to specific variable, structure or array, which
    2686. 

  2686. represents variables specific for a particular task. This may be
    2687. 

  2687. needed if you plan to use same callback method for multiple tasks.</FONT></FONT></P>
    2688. 

  2688. <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
    2689. 

  2689. a scenario where you have several sensors of the same type. The
    2690. 

  2690. actual process of triggering measurement and collecting information
    2691. 

  2691. is identical. The only difference is the sensor address and a
    2692. 

  2692. variable for storing the results.  </FONT></FONT>
    2693. 

  2693. </P>
    2694. 

  2694. <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
    2695. 

  2695. this case each of the tasks, which performs measurement will utilize
    2696. 

  2696. the same callback methods. The only difference will be the variables
    2697. 

  2697. (specific for each of the sensor). </FONT></FONT>
    2698. 

  2698. </P>
    2699. 

  2699. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2700. 

  2700. </P>
    2701. 

  2701. <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
    2702. 

  2702. define a sensor data structure and declare a couple of variables (for
    2703. 

  2703. 2 sensors for instance)</FONT></FONT></P>
    2704. 

  2704. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2705. 

  2705. </P>
    2706. 

  2706. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2707. 

  2707. <FONT FACE="Courier New, monospace"><FONT SIZE=2>typedef struct {</FONT></FONT></P>
    2708. 

  2708. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2709. 

  2709. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned int
    2710. 

  2710. 	address;</FONT></FONT></P>
    2711. 

  2711. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2712. 

  2712. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned
    2713. 

  2713. long	distance;</FONT></FONT></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>} sensor_data;</FONT></FONT></P>
    2716. 

  2716. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2717. 

  2717. <BR>
    2718. 

  2718. </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>sensor_data s1, s2; </FONT></FONT>
    2721. 

  2721. </P>
    2722. 

  2722. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2723. 

  2723. </P>
    2724. 

  2724. <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
    2725. 

  2725. separate tasks are running to collect sensor data.</FONT></FONT></P>
    2726. 

  2726. <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
    2727. 

  2727. that both tasks refer to the same callback methods)</FONT></FONT></P>
    2728. 

  2728. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2729. 

  2729. </P>
    2730. 

  2730. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2731. 

  2731. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler ts;</FONT></FONT></P>
    2732. 

  2732. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2733. 

  2733. t1(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2734. 

  2734. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2735. 

  2735. </P>
    2736. 

  2736. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2737. 

  2737. t2(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2738. 

  2738. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2739. 

  2739. </P>
    2740. 

  2740. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2741. 

  2741. </P>
    2742. 

  2742. <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
    2743. 

  2743. pointers to the respective variables in the <B>setup</B>() method:</FONT></FONT></P>
    2744. 

  2744. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2745. 

  2745. </P>
    2746. 

  2746. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2747. 

  2747. setup() {</FONT></FONT></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: 1.48in; margin-bottom: 0in">…</P>
    2751. 

  2751. <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>
    2752. 

  2752. <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>
    2753. 

  2753. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
    2754. 

  2754. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2755. 

  2755. </P>
    2756. 

  2756. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2757. 

  2757. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2758. 

  2758. </P>
    2759. 

  2759. <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
    2760. 

  2760. reference to specific <B>sensor_data</B> structure inside the common
    2761. 

  2761. callback method:</FONT></FONT></P>
    2762. 

  2762. <P CLASS="western" STYLE="margin-left: 0.49in; 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>void
    2765. 

  2765. Measure() {</FONT></FONT></P>
    2766. 

  2766. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Task&amp;
    2767. 

  2767. T = ts.currentTask(); </FONT></FONT>
    2768. 

  2768. </P>
    2769. 

  2769. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2770. 

  2770. V = *((sensor_data*) T.getLtsPointer());</FONT></FONT></P>
    2771. 

  2771. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2772. 

  2772. For t1, V will be pointing at s1</FONT></FONT></P>
    2773. 

  2773. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2774. 

  2774. For t2, V will be pointing at s2</FONT></FONT></P>
    2775. 

  2775. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2776. 

  2776. </P>
    2777. 

  2777. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2778. 

  2778. Alternatively use the Scheduler method:</FONT></FONT></P>
    2779. 

  2779. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2780. 

  2780. V1 = *((sensor_data*) ts.currentLts());</FONT></FONT></P>
    2781. 

  2781. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2782. 

  2782. </P>
    2783. 

  2783. <P CLASS="western" STYLE="margin-left: 0.98in; text-indent: 0.49in; margin-bottom: 0in">
    2784. 

  2784. …</P>
    2785. 

  2785. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	V.distance
    2786. 

  2786. = &lt;calculate your values here&gt;;</FONT></FONT></P>
    2787. 

  2787. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2788. 

  2788. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2789. 

  2789. </P>
    2790. 

  2790. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2791. 

  2791. </P>
    2792. 

  2792. <OL START=3>
    2793. 

  2793. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>FUTHER
    2794. 

  2794. 	INFROMATION</B></FONT></P>
    2795. 

  2795. </OL>
    2796. 

  2796. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2797. 

  2797. </P>
    2798. 

  2798. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Please
    2799. 

  2799. refer to examples, provided with TaskScheduler package for further
    2800. 

  2800. information and implementation options.</FONT></FONT></P>
    2801. 

  2801. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2802. 

  2802. </P>
    2803. 

  2803. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Real
    2804. 

  2804. time examples of TaskScheduler are available here:</FONT></FONT></P>
    2805. 

  2805. <OL>
    2806. 

  2806. 	<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>
    2807. 

  2807. 	<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>
    2808. 

  2808. 	<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>
    2809. 

  2809. </OL>
    2810. 

  2810. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2811. 

  2811. </P>
    2812. 

  2812. <DIV TYPE=FOOTER>
    2813. 

  2813. 	<P STYLE="margin-top: 0.35in; margin-bottom: 0in">	<SDFIELD TYPE=PAGE SUBTYPE=RANDOM FORMAT=ARABIC>31</SDFIELD></P>
    2814. 

  2814. </DIV>
    2815. 

  2815. </BODY>
    2816. 

  2816. </HTML>
    2817.