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  24. <BODY LANG="en-US" TEXT="#000000" BGCOLOR="#ffffff" DIR="LTR">
    25. 

  25. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task Scheduler –
    26. 

  26. cooperative multitasking for Arduino microcontrollers</B></P>
    27. 

  27. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Version 1.8.0:
    28. 

  28. 2015-10-15</B></P>
    29. 

  29. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    30. 

  30. </P>
    31. 

  31. <P CLASS="western" STYLE="margin-bottom: 0in"><B>OVERVIEW</B>:</P>
    32. 

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

  33. implementation of cooperative multitasking (task scheduling)
    34. 

  34. supporting:</P>
    35. 

  35. <OL>
    36. 

  36. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Periodic task
    37. 

  37. 	execution (with dynamic execution period in milliseconds)</P>
    38. 

  38. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
    39. 

  39. 	iterations (n times)</P>
    40. 

  40. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution of tasks
    41. 

  41. 	in predefined sequence</P>
    42. 

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

  43. 	task execution parameters (frequency, number of iterations, callback
    44. 

  44. 	function)</P>
    45. 

  45. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Power saving via
    46. 

  46. 	entering IDLE sleep mode between tasks are scheduled to run</P>
    47. 

  47. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for task
    48. 

  48. 	invocation via Status Request object</P>
    49. 

  49. </OL>
    50. 

  50. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    51. 

  51. </P>
    52. 

  52. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK</B>:</P>
    53. 

  53. <P CLASS="western" STYLE="margin-bottom: 0in">“Task” is a
    54. 

  54. container concept that links together:</P>
    55. 

  55. <OL>
    56. 

  56. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution interval</P>
    57. 

  57. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution event
    58. 

  58. 	(Status Request)</P>
    59. 

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

  60. 	execution iterations</P>
    61. 

  61. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Piece of code
    62. 

  62. 	performing task activities (callback functions)</P>
    63. 

  63. </OL>
    64. 

  64. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    65. 

  65. </P>
    66. 

  66. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Tasks</B> are linked
    67. 

  67. into execution <B>chains</B>, which are processed by the “Scheduler”
    68. 

  68. in the order they are linked.</P>
    69. 

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

  70. </P>
    71. 

  71. <P CLASS="western" STYLE="margin-bottom: 0in">Each task performs its
    72. 

  72. function via callback function. Scheduler calls Task’s callback
    73. 

  73. function periodically until task is disabled or task runs out of
    74. 

  74. iterations. In addition to “regular” callback, two methods could
    75. 

  75. be enabled for each task: a callback function invoked once when task
    76. 

  76. is enabled, and a callback function invoked once when the task is
    77. 

  77. disabled. Those two special methods allows task to properly initiate
    78. 

  78. themselves for execution and clean-up after execution is over. 
    79. 

  79. </P>
    80. 

  80. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    81. 

  81. </P>
    82. 

  82. <P CLASS="western" STYLE="margin-bottom: 0in">Tasks are responsible
    83. 

  83. for supporting <B>cooperative</B> <B>multitasking</B> by being “good
    84. 

  84. neighbors”, i.e., running their callback functions quickly in a
    85. 

  85. non-blocking way and releasing control as soon as possible. 
    86. 

  86. </P>
    87. 

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

  88. </P>
    89. 

  89. <P CLASS="western" STYLE="margin-bottom: 0in">“Scheduler” is
    90. 

  90. executing Tasks' callback functions in the order the tasks were added
    91. 

  91. to the chain, from first to last. Scheduler stops and exists after
    92. 

  92. processing the chain once in order to allow other statements in the
    93. 

  93. main code of <B>loop()</B> function to run.  This <B>a “scheduling
    94. 

  94. pass”.</B></P>
    95. 

  95. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    96. 

  96. </P>
    97. 

  97. <P CLASS="western" STYLE="margin-bottom: 0in">If compiled with
    98. 

  98. <FONT FACE="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</FONT>
    99. 

  99. enabled, the scheduler will place processor into IDLE sleep mode (for
    100. 

  100. approximately 1 ms, as the timer interrupt will wake it up), after
    101. 

  101. what is determined to be an “idle” pass. An Idle Pass is a pass
    102. 

  102. through the task chain when no Tasks were scheduled to run their
    103. 

  103. callback functions. This is done to avoid repetitive empty passes
    104. 

  104. through the chain when no tasks need to be executed. If any of the
    105. 

  105. tasks in the chain always requires immediate execution (aInterval =
    106. 

  106. 0), then there will be no IDLE sleep between task callback execution.</P>
    107. 

  107. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    108. 

  108. </P>
    109. 

  109. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    110. 

  110. <B>Below is the flowchart of a Task lifecycle:</B></P>
    111. 

  111. <P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=747 BORDER=0></P>
    112. 

  112. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    113. 

  113. </P>
    114. 

  114. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Task
    115. 

  115. Scheduler uses <B>millis()</B> to determine if tasks are ready to be
    116. 

  116. invoked. Therefore, if you put your device to any “deep” sleep
    117. 

  117. mode disabling timer interrupts, the <B>millis()</B> count will be
    118. 

  118. suspended, leading to effective suspension of scheduling. Upon wake
    119. 

  119. up, active tasks need to be re-enabled, which will effectively reset
    120. 

  120. their internal time scheduling variables to the new value of
    121. 

  121. <B>millis(). </B>Time spent in deep sleep mode should be considered
    122. 

  122. “frozen”, i.e., if a task was scheduled to run in 1 second from
    123. 

  123. now, and device was put to sleep for 5 minutes, upon wake up, the
    124. 

  124. task will still be scheduled 1 second from the time of wake up.
    125. 

  125. Executing <B>enable() </B>function on this tasks will make it run as
    126. 

  126. soon as possible. This is a concern only for tasks which are required
    127. 

  127. to run in a truly periodical manner (in absolute time terms). 
    128. 

  128. </P>
    129. 

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

  130. </P>
    131. 

  131. <P CLASS="western" STYLE="margin-bottom: 0in">In addition to
    132. 

  132. time-only invocation, tasks can be scheduled to wait on an event
    133. 

  133. employing StatusRequest objects (more about Status Requests later).</P>
    134. 

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

  135. when one task (t1) is performing a function which affects execution
    136. 

  136. of many tasks (t2, t3). In this case the task t1 will “signal”
    137. 

  137. completion of its function via Status Request object. Tasks t2 and t3
    138. 

  138. are “waiting” on the same Status Request object. As soon as
    139. 

  139. status request completes, t2 and t3 are activated.</P>
    140. 

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

  141. </P>
    142. 

  142. <P CLASS="western" STYLE="margin-bottom: 0in">Alternative scenario is
    143. 

  143. the ne task (t1) and waiting for the completion of a number of tasks
    144. 

  144. (t2, t3). When done, t2 and t3 signal completion of their functions,
    145. 

  145. t1 is invoked. 
    146. 

  146. </P>
    147. 

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

  148. </P>
    149. 

  149. <P CLASS="western" STYLE="margin-bottom: 0in">Please see the examples
    150. 

  150. at the end of this document.</P>
    151. 

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

  152. </P>
    153. 

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

  154. <P CLASS="western" STYLE="margin-bottom: 0in">This library could be
    155. 

  155. compiled with several options. 
    156. 

  156. </P>
    157. 

  157. <P CLASS="western" STYLE="margin-bottom: 0in">These parameters must
    158. 

  158. be defined before inclusion of the library header file into the
    159. 

  159. sketch.</P>
    160. 

  160. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    161. 

  161. </P>
    162. 

  162. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    163. 

  163. <B>_TASK_TIMECRITICAL</B></P>
    164. 

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

  165. library with time critical tracking option enabled.</P>
    166. 

  166. <P CLASS="western" STYLE="margin-bottom: 0in">Time critical option
    167. 

  167. keeps track where next execution time of the task falls, and makes it
    168. 

  168. available via API through Task::<B> getOverrun() </B>function. If
    169. 

  169. <B>getOverrun </B>returns a negative value, this Task’s next
    170. 

  170. execution time is in the past, and task is behind schedule. This most
    171. 

  171. probably means that either task’s callback function runtime is too
    172. 

  172. long, or the execution interval is too short (then schedule is too
    173. 

  173. aggressive).</P>
    174. 

  174. <P CLASS="western" STYLE="margin-bottom: 0in">A positive value
    175. 

  175. indicates that task is on schedule, and callback functions have
    176. 

  176. enough time to finish before the next scheduled pass. 
    177. 

  177. </P>
    178. 

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

  179. </P>
    180. 

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

  181. <B>_TASK_SLEEP_ON_IDLE_RUN</B></P>
    182. 

  182. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    183. 

  183. library with the <B>sleep</B> option enabled (AVR boards only).</P>
    184. 

  184. <P CLASS="western" STYLE="margin-bottom: 0in">When enabled, scheduler
    185. 

  185. will put the microcontroller into <B>SLEEP_MODE_IDLE</B> state if
    186. 

  186. none of the tasks’ callback functions were activated during pass.
    187. 

  187. <B>IDLE</B> state is interrupted by timers once every 1 ms. Helps
    188. 

  188. conserve power.  Device in SLEEP_MODE_IDLE wakes up to all hardware
    189. 

  189. and timer interrupts, so scheduling is kept current.</P>
    190. 

  190. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    191. 

  191. </P>
    192. 

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

  193. <B>_TASK_STATUS_REQUEST</B></P>
    194. 

  194. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    195. 

  195. TaskScheduler with support for StatusRequest object. Status Requests
    196. 

  196. are objects allowing tasks to wait on an event, and signal event
    197. 

  197. completion to each other. 
    198. 

  198. </P>
    199. 

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

  200. </P>
    201. 

  201. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: above
    202. 

  202. parameters are DISABLED by default, and need to be explicitly
    203. 

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

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

  205. </P>
    206. 

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

  207. </P>
    208. 

  208. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    209. 

  209. </P>
    210. 

  210. <P CLASS="western" STYLE="margin-bottom: 0in"><B>API DOCUMENTATION:</B></P>
    211. 

  211. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    212. 

  212. </P>
    213. 

  213. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    214. 

  214. <B>TASKS:</B></P>
    215. 

  215. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    216. 

  216. </P>
    217. 

  217. <P CLASS="western" STYLE="margin-bottom: 0in">CREATION:</P>
    218. 

  218. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
    219. 

  219. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    220. 

  220. </P>
    221. 

  221. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    222. 

  222. constructor. 
    223. 

  223. </P>
    224. 

  224. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    225. 

  225. no parameters and creates a task that could be scheduled to run at
    226. 

  226. every scheduling pass indefinitely, but does not have a callback
    227. 

  227. function defined, so no execution will actually take place. 
    228. 

  228. </P>
    229. 

  229. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    230. 

  230. tasks are created <B>disabled</B> by default.</P>
    231. 

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

  232. </P>
    233. 

  233. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    234. 

  234. <B>Task(unsigned long aInterval, long aIterations, void
    235. 

  235. (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
    236. 

  236. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    237. 

  237. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    238. 

  238. </P>
    239. 

  239. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Constructor
    240. 

  240. with parameters. 
    241. 

  241. </P>
    242. 

  242. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Creates
    243. 

  243. a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
    244. 

  244. &lt;aIterations&gt; times, executing &lt;aCallback&gt; function on
    245. 

  245. every pass. 
    246. 

  246. </P>
    247. 

  247. <OL>
    248. 

  248. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
    249. 

  249. 	milliseconds (<B>default = 0)</B></P>
    250. 

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

  251. 	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
    252. 

  252. 	</B>Tasks do not remember the number of iteration set initially.
    253. 

  253. 	After the iterations are done, internal iteration counter is 0. If
    254. 

  254. 	you need to perform another set of iterations, you need to set the
    255. 

  255. 	number of iterations again. <BR><B>Note: </B>Tasks which performed
    256. 

  256. 	all their iterations remain active. 
    257. 

  257. 	</P>
    258. 

  258. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
    259. 

  259. 	pointer to a void callback function without parameters (<B>default =
    260. 

  260. 	NULL)</B></P>
    261. 

  261. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
    262. 

  262. 	<B>optional</B> reference to existing scheduler. If supplied (not
    263. 

  263. 	NULL) this task will be appended to the task chain of the current
    264. 

  264. 	scheduler). (<B>default = NULL)</B></P>
    265. 

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

  266. 	<B>optional</B>. Value of <B>true </B>will create task enabled.
    267. 

  267. 	(<B>default = false)</B></P>
    268. 

  268. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
    269. 

  269. 	pointer to a bool callback function without parameters, invoked when
    270. 

  270. 	task is enabled. If OnEnable function returns <B>true</B>, task is
    271. 

  271. 	enabled. If <B>OnEnable</B> function return <B>false</B>, task
    272. 

  272. 	remains disabled (<B>default = NULL)</B></P>
    273. 

  273. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
    274. 

  274. 	pointer to a void callback function without parameters, invoked when
    275. 

  275. 	task is disabled (<B>default = NULL)</B></P>
    276. 

  276. </OL>
    277. 

  277. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    278. 

  278. </P>
    279. 

  279. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    280. 

  280. tasks are created <B>disabled</B> by default (unless aEnable = true).
    281. 

  281. You have to explicitly enable the task for execution.</P>
    282. 

  282. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enabled
    283. 

  283. task is scheduled for execution immediately. Enable tasks with delay
    284. 

  284. (standard execution interval or specific execution interval) in order
    285. 

  285. to defer first run of the task.</P>
    286. 

  286. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    287. 

  287. </P>
    288. 

  288. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    289. 

  289. <B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
    290. 

  290. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    291. 

  291. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    292. 

  292. </P>
    293. 

  293. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    294. 

  294. compiled with support for Status Request objects, this constructor
    295. 

  295. creates a Task for activation on event (since such tasks must run
    296. 

  296. <B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
    297. 

  297. <I>enabled</I> status will be set by that method.</P>
    298. 

  298. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    299. 

  299. </P>
    300. 

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

  301. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    302. 

  302. following 3 “getter” functions return task status
    303. 

  303. (enabled/disabled), execution interval in milliseconds, number of
    304. 

  304. <I><B>remaining</B></I> iterations. 
    305. 

  305. </P>
    306. 

  306. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    307. 

  307. </P>
    308. 

  308. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
    309. 

  309. isEnabled() </B>
    310. 

  310. </P>
    311. 

  311. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>unsigned
    312. 

  312. long getInterval()</B></P>
    313. 

  313. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
    314. 

  314. getIterations() </B>
    315. 

  315. </P>
    316. 

  316. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    317. 

  317. </P>
    318. 

  318. <P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
    319. 

  319. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    320. 

  320. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    321. 

  321. enabled, tasks are monitored for “long running” scenario. A “long
    322. 

  322. running” task is a task that does not finish processing its
    323. 

  323. callback functions quickly, and thus creates a situation for itself
    324. 

  324. and other tasks where they don't run on a scheduled interval, but
    325. 

  325. rather “catch up” and are behind.  When task scheduler sets the
    326. 

  326. next execution target time, it adds Task's execution interval to the
    327. 

  327. previously scheduled execution time:</P>
    328. 

  328. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">	<B>next
    329. 

  329. execution time = previous execution time + task execution interval</B></P>
    330. 

  330. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    331. 

  331. </P>
    332. 

  332. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    333. 

  333. <B>next execution time</B> happens to be already in the past (<B>next
    334. 

  334. execution time</B> &lt; <B>millis()</B>), then task is considered
    335. 

  335. <I><B>overrun</B></I>. <B>GetOverrun</B> function returns number of
    336. 

  336. milliseconds between next execution time and current time. If the
    337. 

  337. <B>value is negative</B>, the task is overrun by that many
    338. 

  338. milliseconds. 
    339. 

  339. </P>
    340. 

  340. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Positive
    341. 

  341. value indicate number of milliseconds of slack this task has for
    342. 

  342. execution purposes. 
    343. 

  343. </P>
    344. 

  344. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    345. 

  345. </P>
    346. 

  346. <P CLASS="western" STYLE="margin-bottom: 0in"><B>unsigned long
    347. 

  347. getRunCounter()</B></P>
    348. 

  348. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    349. 

  349. the number of the current run. “Current run” is the number of
    350. 

  350. times a callback function has been invoked since the last time a task
    351. 

  351. was enabled. <BR><BR>
    352. 

  352. </P>
    353. 

  353. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    354. 

  354. </B>The <B>runCounter</B> value is incremented <I>before</I> callback
    355. 

  355. function is invoked. If a task is checking the <B>runCounter</B>
    356. 

  356. value within its callback function, then the first run value is 1. 
    357. 

  357. </P>
    358. 

  358. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    359. 

  359. task T1 is checking the <B>runCounter</B> value of another task (T2)
    360. 

  360. , then value = 0 indicates that T2 has not been invoked yet, and
    361. 

  361. value = 1 indicates that T2 has run once. 
    362. 

  362. </P>
    363. 

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

  364. </P>
    365. 

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

  366. isFirstIteration()</B></P>
    367. 

  367. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Indicates
    368. 

  368. whether current pass is a first iteration of the task. 
    369. 

  369. </P>
    370. 

  370. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    371. 

  371. isLastIteration()</B></P>
    372. 

  372. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
    373. 

  373. tasks with a limited number of iterations only, indicates whether
    374. 

  374. current pass is the last iteration. 
    375. 

  375. </P>
    376. 

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

  377. </P>
    378. 

  378. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    379. 

  379. <B>CONTROL:</B></P>
    380. 

  380. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    381. 

  381. <BR>
    382. 

  382. </P>
    383. 

  383. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
    384. 

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

  385. </P>
    386. 

  386. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    387. 

  387. the task, and schedules it for immediate execution (without delay) at
    388. 

  388. this or next scheduling pass depending on when the task was enabled.
    389. 

  389. Scheduler will execute the next pass without any delay because there
    390. 

  390. is a task which was enabled and requires execution. 
    391. 

  391. </P>
    392. 

  392. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    393. 

  393. </P>
    394. 

  394. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    395. 

  395. </B>enable() invokes task’s <B>OnEnable</B> method (if not NULL),
    396. 

  396. which can prepare task for execution. <B>OnEnable</B> must return a
    397. 

  397. value of <B>true</B> for task to be enabled. If <B>OnEnable</B>
    398. 

  398. returns <B>false</B>, task remains disabled.  <B>OnEnable</B> is
    399. 

  399. invoked every time <B>enable</B> is called, regardless if task is
    400. 

  400. already enabled or not. 
    401. 

  401. </P>
    402. 

  402. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    403. 

  403. </P>
    404. 

  404. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool enableIfNot();</B></P>
    405. 

  405. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    406. 

  406. </P>
    407. 

  407. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
    408. 

  408. the task only if it was previously disabled. Returns previous enable
    409. 

  409. state: <B>true</B> if task was already enabled, and <B>false</B> if
    410. 

  410. task was disabled.</P>
    411. 

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

  412. </P>
    413. 

  413. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
    414. 

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

  415. </P>
    416. 

  416. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
    417. 

  417. the task for execution after a delay (aInterval), but does not change
    418. 

  418. the enabled/disabled status of the task. 
    419. 

  419. </P>
    420. 

  420. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    421. 

  421. </P>
    422. 

  422. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    423. 

  423. </B>a delay of 0 (zero) will delay task for current execution
    424. 

  424. interval. Use <B>forceNextIteration() </B>method to force execution
    425. 

  425. of the task’s callback during immediate next scheduling pass. 
    426. 

  426. </P>
    427. 

  427. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    428. 

  428. </P>
    429. 

  429. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    430. 

  430. forceNextIteration();</B></P>
    431. 

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

  432. </P>
    433. 

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

  434. the task for execution during immediate next scheduling pass.</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"><B>Note:
    438. 

  438. </B>Task’s schedule is adjusted to run from this moment in time.
    439. 

  439. For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
    440. 

  440. calling <B>forceNextIteration </B>at 44th second of task execution
    441. 

  441. will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
    442. 

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

  443. </P>
    444. 

  444. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    445. 

  445. enableDelayed();</B></P>
    446. 

  446. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    447. 

  447. </P>
    448. 

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

  449. the task, and schedules it for execution after a delay (aInterval). 
    450. 

  450. </P>
    451. 

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

  452. </P>
    453. 

  453. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
    454. 

  454. (unsigned long aDelay);</B></P>
    455. 

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

  456. </P>
    457. 

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

  458. the task, and schedules it for execution after a specific delay
    459. 

  459. (aDelay, which maybe different from aInterval). 
    460. 

  460. </P>
    461. 

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

  462. </P>
    463. 

  463. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restart();</B></P>
    464. 

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

  465. </P>
    466. 

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

  467. tasks with limited number of iterations only, <B>restart</B> function
    468. 

  468. will re-enable the task, set the number of iterations back to when
    469. 

  469. the task was created and and schedule the task for execution as soon
    470. 

  470. as possible.</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-bottom: 0in"><B>void restartDelayed
    474. 

  474. (unsigned long aDelay);</B></P>
    475. 

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

  476. </P>
    477. 

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

  478. as <B>restart() </B>function, with the only difference being that
    479. 

  479. Task is scheduled to run first iteration after a delay = <B>aDelay</B>
    480. 

  480. milliseconds.</P>
    481. 

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

  482. </P>
    483. 

  483. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
    484. 

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

  485. </P>
    486. 

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

  487. the task. Scheduler will not execute this task any longer, even if it
    488. 

  488. remains in the chain.  Task can be later re-enabled for execution. 
    489. 

  489. </P>
    490. 

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

  491. previous enabled state: <B>true</B> if task was enabled prior to
    492. 

  492. calling disable, and <B>false</B> otherwise.</P>
    493. 

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

  494. not NULL, task’s <B>OnDisable</B> method is invoked. <B>OnDisable</B>
    495. 

  495. is invoked only if task was enabled.  Calling <B>disable</B> 3 times
    496. 

  496. for instance will invoke <B>OnDisable</B> only once.</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-bottom: 0in"><B>void set(unsigned
    500. 

  500. long aInterval, long aIterations, void (*aCallback)() , bool
    501. 

  501. (*aOnEnable)() , void (*aOnDisable)());</B></P>
    502. 

  502. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    503. 

  503. </P>
    504. 

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

  505. dynamic control of task execution parameters in one function call. 
    506. 

  506. </P>
    507. 

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

  508. </B>OnEnable and OnDisable parameters can be omitted. In that case
    509. 

  509. they will be assigned to NULL and not called. 
    510. 

  510. </P>
    511. 

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

  512. </P>
    513. 

  513. <P CLASS="western" STYLE="margin-bottom: 0in">Next five “setter”
    514. 

  514. functions allow changes of individual task execution control
    515. 

  515. parameters. 
    516. 

  516. </P>
    517. 

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

  518. setInterval (unsigned long aInterval) </B>
    519. 

  519. </P>
    520. 

  520. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    521. 

  521. setIterations (long aIterations) </B>
    522. 

  522. </P>
    523. 

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

  524. setCallback (void (*aCallback)()) </B>
    525. 

  525. </P>
    526. 

  526. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    527. 

  527. setOnEnable (bool (*aCallback)()) </B>
    528. 

  528. </P>
    529. 

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

  530. setOnDisable (void (*aCallback)()) </B>
    531. 

  531. </P>
    532. 

  532. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    533. 

  533. </P>
    534. 

  534. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Next
    535. 

  535. execution time calculation takes place <B>after</B> the callback
    536. 

  536. function is called, so new interval will be used immediately by the
    537. 

  537. scheduler. For the situations when one task is changing the interval
    538. 

  538. parameter for the other, <B>setInterval</B> function calls <B>delay
    539. 

  539. </B>explicitly to guarantee schedule change, however it <B>does not
    540. 

  540. </B>enable the task if task is disabled.</P>
    541. 

  541. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Tasks that
    542. 

  542. ran through all their allocated iterations are disabled.
    543. 

  543. <B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
    544. 

  544. <B>enable</B> explicitly, or use <B>restart</B> methods. 
    545. 

  545. </P>
    546. 

  546. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    547. 

  547. </P>
    548. 

  548. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    549. 

  549. <B>void waitFor(StatusRequest* aStatusRequest);</B></P>
    550. 

  550. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    551. 

  551. <BR>
    552. 

  552. </P>
    553. 

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

  554. compiled with support for Status Requests, this method makes task
    555. 

  555. wait for the completion of <B>aStatusRequest</B> event. 
    556. 

  556. </P>
    557. 

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

  558. </B>sets tasks interval to <B>0 (zero)</B> for immediate execution
    559. 

  559. when event happens, and also sets the number of <B>iterations to 1</B>.</P>
    560. 

  560. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    561. 

  561. aStatusRequest</B> should be “activated” by calling <B>setWaiting()
    562. 

  562. </B>method before making a task wait on it. Otherwise, the task will
    563. 

  563. execute immediately. 
    564. 

  564. </P>
    565. 

  565. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    566. 

  566. </P>
    567. 

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

  568. </P>
    569. 

  569. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
    570. 

  570. getStatusRequest()</B></P>
    571. 

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

  572. a StatusReqeust object this Task was waiting on. 
    573. 

  573. </P>
    574. 

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

  575. </P>
    576. 

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

  577. </P>
    578. 

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

  579. </P>
    580. 

  580. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    581. 

  581. </P>
    582. 

  582. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    583. 

  583. <B>TASK SCHEDULER:</B></P>
    584. 

  584. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    585. 

  585. </P>
    586. 

  586. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    587. 

  587. <B>CREATION:</B></P>
    588. 

  588. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    589. 

  589. <BR>
    590. 

  590. </P>
    591. 

  591. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler()</B><BR><BR>
    592. 

  592. </P>
    593. 

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

  594. constructor. 
    595. 

  595. </P>
    596. 

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

  597. no parameters. Creates task scheduler with default parameters and an
    598. 

  598. empty task queue. 
    599. 

  599. </P>
    600. 

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

  601. </P>
    602. 

  602. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void init()</B></P>
    603. 

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

  604. </P>
    605. 

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

  606. the task queue and scheduler parameters, Executed as part of
    607. 

  607. constructor, so don't need to be explicitly called after creation.</P>
    608. 

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

  609. </B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    610. 

  610. enabled) scheduler is allowed to put processor to IDLE sleep mode. If
    611. 

  611. this behavior was changed via <B>allowSleep() </B>function, <B>inti()
    612. 

  612. </B>will <B>NOT</B> reset allow sleep particular parameter. 
    613. 

  613. </P>
    614. 

  614. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    615. 

  615. addTask(Task&amp; aTask)</B></P>
    616. 

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

  617. </P>
    618. 

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

  619. task aTask to the execution queue (or chain) of tasks by appending it
    620. 

  620. to the end of the chain. If two tasks are scheduled for execution,
    621. 

  621. the sequence will match the order in which tasks were appended to the
    622. 

  622. chain. However, in reality, due to different timing of task
    623. 

  623. execution, the actual order may be different. 
    624. 

  624. </P>
    625. 

  625. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    626. 

  626. </B>Currently, changing the execution sequence in a chain dynamically
    627. 

  627. is not supported. 
    628. 

  628. </P>
    629. 

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

  630. you need to reorder the chain sequence – initialize the scheduler
    631. 

  631. and re-add the tasks in a different order. 
    632. 

  632. </P>
    633. 

  633. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    634. 

  634. deleteTask(Task&amp; aTask)</B></P>
    635. 

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

  636. </P>
    637. 

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

  638. task aTask from the execution chain. The chain of remaining tasks is
    639. 

  639. linked together (i.e</P>
    640. 

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

  641. original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
    642. 

  642. 1 → 2 → 4).</P>
    643. 

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

  644. </B>it is not required to delete a task from the chain. A disabled
    645. 

  645. task will not be executed anyway, but you save a few microseconds per
    646. 

  646. scheduling pass by deleting it, since it is not even considered for
    647. 

  647. execution. 
    648. 

  648. </P>
    649. 

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

  650. example of proper use of this function would be running some sort of
    651. 

  651. <B>initialize</B> task in the chain, and then deleting it from the
    652. 

  652. chain since it only needs to run once. 
    653. 

  653. </P>
    654. 

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

  655. </P>
    656. 

  656. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
    657. 

  657. aState) </B>
    658. 

  658. </P>
    659. 

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

  660. </P>
    661. 

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

  662. in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    663. 

  663. enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
    664. 

  664. or not (<B>aState =false</B>) to put processor into IDLE sleep mode
    665. 

  665. in case not tasks are scheduled to run.</P>
    666. 

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

  667. <B>default</B> behavior of scheduler upon creation is to allow sleep
    668. 

  668. mode. 
    669. 

  669. </P>
    670. 

  670. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void enableAll()</B></P>
    671. 

  671. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void disableAll()</B></P>
    672. 

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

  673. </P>
    674. 

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

  675. and disables (respectively) all tasks in the chain. Convenient if
    676. 

  676. your need to enable/disable majority of the tasks (i.e. disable all
    677. 

  677. and then enable one). 
    678. 

  678. </P>
    679. 

  679. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>Task&amp;
    680. 

  680. currentTask()<BR></B><BR>
    681. 

  681. </P>
    682. 

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

  683. reference to the task, currently executing via <B>execute()</B> loop.
    684. 

  684. Could be used by callback functions to identify which of the Tasks
    685. 

  685. invoked callback function.</P>
    686. 

  686. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void execute()</B></P>
    687. 

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

  688. </P>
    689. 

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

  690. one scheduling pass, including end-of-pass sleep. This function
    691. 

  691. typically placed inside the <B>loop()</B> function of the sketch.
    692. 

  692. Since <B>execute</B> exits after every pass, you can put additional
    693. 

  693. statements after <B>execute</B> inside the <B>loop()</B> 
    694. 

  694. </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-bottom: 0in; page-break-after: avoid">
    702. 

  702. <B>STATUS REQUEST:</B></P>
    703. 

  703. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    704. 

  704. <BR>
    705. 

  705. </P>
    706. 

  706. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    707. 

  707. <B>CREATION:</B></P>
    708. 

  708. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    709. 

  709. <BR>
    710. 

  710. </P>
    711. 

  711. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
    712. 

  712. </P>
    713. 

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

  714. constructor. 
    715. 

  715. </P>
    716. 

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

  717. no parameters. Creates Status Request object, which is assigned a
    718. 

  718. status of “completed” on creation. 
    719. 

  719. </P>
    720. 

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

  721. </P>
    722. 

  722. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    723. 

  723. setWaiting(unsigned int aCount)</B></P>
    724. 

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

  725. Status Request object. By default each object is set to wait on one
    726. 

  726. event only, however, if <B>aCount</B> is supplied, Status Request can
    727. 

  727. wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
    728. 

  728. on three signals. An example could be waiting for completion of
    729. 

  729. measurements from 3 sensors. 
    730. 

  730. </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-bottom: 0in"><B>bool signal(int
    734. 

  734. aStatus)</B></P>
    735. 

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

  736. completion of the event to the Status Request object, and passes a
    737. 

  737. completion code, which could be interrogated later. 
    738. 

  738. </P>
    739. 

  739. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    740. 

  740. </B> passing a <B>negative</B> status code to the status request
    741. 

  741. object is considered reporting an error condition, and will complete
    742. 

  742. the status request regardless of how many outstanding signals it is
    743. 

  743. still waiting for. 
    744. 

  744. </P>
    745. 

  745. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B>:
    746. 

  746. only the latest status code is kept.</P>
    747. 

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

  748. </P>
    749. 

  749. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
    750. 

  750. (int aStatus)</B></P>
    751. 

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

  752. completion of <B>ALL</B> events to the Status Request object, and
    753. 

  753. passes a completion code, which could be interrogated later. The
    754. 

  754. status request completes regardless of how many events it is still
    755. 

  755. waiting on. 
    756. 

  756. </P>
    757. 

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

  758. </P>
    759. 

  759. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
    760. 

  760. </P>
    761. 

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

  762. <B>true</B> if status request is still waiting for event or events to
    763. 

  763. happen.</P>
    764. 

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

  765. </P>
    766. 

  766. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
    767. 

  767. </P>
    768. 

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

  769. <B>true</B> if status has completed.</P>
    770. 

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

  771. </P>
    772. 

  772. <P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
    773. 

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

  774. the status code passed to the status request object by the <B>signal()
    775. 

  775. </B>and <B>signalComplete() </B>methods. 
    776. 

  776. </P>
    777. 

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

  778. <B>positive</B> number is considered a successful completion status.</P>
    779. 

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

  780. 0 (zero) is considered a default successful completion status.</P>
    781. 

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

  782. <B>negative</B> number is considered an error code and unsuccessful
    783. 

  783. completion of a request.</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-bottom: 0in; page-break-after: avoid">
    791. 

  791. <B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
    792. 

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

  793. </P>
    794. 

  794. <OL>
    795. 

  795. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><B>EVENT DRIVEN
    796. 

  796. 	PROGRAMMING</B></P>
    797. 

  797. </OL>
    798. 

  798. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    799. 

  799. </P>
    800. 

  800. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
    801. 

  801. of your application becomes a separate and distinct programming area,
    802. 

  802. which may or may not interact and control each other. 
    803. 

  803. </P>
    804. 

  804. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    805. 

  805. </P>
    806. 

  806. <P CLASS="western" STYLE="margin-bottom: 0in">Example: 
    807. 

  807. </P>
    808. 

  808. <P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
    809. 

  809. system you need to measure soil humidity, control pump and display
    810. 

  810. the results</P>
    811. 

  811. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
    812. 

  812. becomes a task:</P>
    813. 

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

  814. </P>
    815. 

  815. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    816. 

  816. <B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, -1,
    817. 

  817. &amp;measureCallback);<BR>Task <B>tWater</B>  
    818. 

  818. (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
    819. 

  819. <B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, -1, &amp;displayCallback);
    820. 

  820. <BR></FONT></FONT><BR>
    821. 

  821. </P>
    822. 

  822. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    823. 

  823. </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>
    824. 

  824. </P>
    825. 

  825. <P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
    826. 

  826. on the pump, you keep it running for TWATER_INTERVAL interval and
    827. 

  827. then turn it off. Turning off a pump is also a task which only needs
    828. 

  828. to run once for every time the pump is turned on:</P>
    829. 

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

  830. </P>
    831. 

  831. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    832. 

  832. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
    833. 

  833. (WATERTIME*SECOND, 1,</FONT></FONT><FONT FACE="Courier New, monospace">
    834. 

  834. &amp;waterOffCallback);</FONT><BR><BR>
    835. 

  835. </P>
    836. 

  836. <P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
    837. 

  837. function:</P>
    838. 

  838. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    839. 

  839. </P>
    840. 

  840. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    841. 

  841. waterOffCallback() {<BR>    motorOff();<BR>   
    842. 

  842. tWater.enableDelayed();<BR>}</FONT></FONT></P>
    843. 

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

  844. </P>
    845. 

  845. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
    846. 

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

  847. </P>
    848. 

  848. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    849. 

  849. waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
    850. 

  850. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    851. 

  851. If this is not the last iteration = turn the pump on<BR>     
    852. 

  852. motorOn();<BR>      tWaterOff.set(parameters.watertime * SECOND, 1,
    853. 

  853. &amp;waterOffCallback);<BR>      tWaterOff.enableDelayed();<BR>     
    854. 

  854. return;<BR>    }</FONT></FONT></P>
    855. 

  855. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    856. 

  856. We could not reach target humidity – something is wrong<BR>   
    857. 

  857. motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
    858. 

  858. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    859. 

  859. </P>
    860. 

  860. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
    861. 

  861. sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
    862. 

  862. </P>
    863. 

  863. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    864. 

  864. </B>please note that tWater is <B>not</B> activated during setup().
    865. 

  865. It is activated by tMeasure callback once the watering conditions are
    866. 

  866. met. </FONT>
    867. 

  867. </P>
    868. 

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

  869. </P>
    870. 

  870. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">	</FONT><FONT FACE="Courier New, monospace">setup()</FONT></P>
    871. 

  871. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace">	
    872. 

  872.  ...</FONT></P>
    873. 

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

  874. <FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
    875. 

  875.  tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
    876. 

  876. taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
    877. 

  877. taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
    878. 

  878. taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
    879. 

  879. tDisplay.enable();<BR><BR>  currentHumidity =
    880. 

  880. measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
    881. 

  881. taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
    882. 

  882. </P>
    883. 

  883. <OL START=2>
    884. 

  884. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">“<FONT FACE="Times New Roman, serif"><B>NATIVE”
    885. 

  885. 	SUPPORT FOR FINITE STATE MACHINE</B></FONT></P>
    886. 

  886. </OL>
    887. 

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

  888. </P>
    889. 

  889. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
    890. 

  890. “states” as callback function or functions. Each callback
    891. 

  891. function executes activities specific to a “state” and then
    892. 

  892. “transitions” to the next state by assigning next callback
    893. 

  893. function to the task. </FONT>
    894. 

  894. </P>
    895. 

  895. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
    896. 

  896. from one state to the next is achieved by setting next callback
    897. 

  897. function at the end of preceding one. </FONT>
    898. 

  898. </P>
    899. 

  899. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    900. 

  900. </B>do not call the next callback function. Let the schedule take
    901. 

  901. care of that during the next pass. (Thus letting other tasks run). </FONT>
    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"><FONT FACE="Times New Roman, serif">Example:
    906. 

  906. Blinking LED 2 times a second could be achieved this way</FONT></P>
    907. 

  907. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    908. 

  908. </P>
    909. 

  909. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">Task
    910. 

  910. tLedBlinker (500, -1, &amp;ledOnCallback);</FONT></P>
    911. 

  911. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">Scheduler
    912. 

  912. taskManager;</FONT></P>
    913. 

  913. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    914. 

  914. </P>
    915. 

  915. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">void
    916. 

  916.  ledOnCallback() {</FONT></P>
    917. 

  917. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	turnLedOn();</FONT></P>
    918. 

  918. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.setCallback(&amp;ledOffCallback);</FONT></P>
    919. 

  919. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT></P>
    920. 

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

  921. </P>
    922. 

  922. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">void
    923. 

  923.  ledOffCallback() {</FONT></P>
    924. 

  924. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	turnLedOff();</FONT></P>
    925. 

  925. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.setCallback(&amp;ledOnCallback);</FONT></P>
    926. 

  926. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT></P>
    927. 

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

  928. </P>
    929. 

  929. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">setup()
    930. 

  930. {</FONT></P>
    931. 

  931. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	taskManager.init();<BR>
    932. 

  932.  	taskManager.addTask(tLedBlinker);</FONT></P>
    933. 

  933. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	</FONT></P>
    934. 

  934. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.enable();</FONT></P>
    935. 

  935. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT></P>
    936. 

  936. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    937. 

  937. </P>
    938. 

  938. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">loop
    939. 

  939. () {</FONT></P>
    940. 

  940. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	taskManager.execute();</FONT></P>
    941. 

  941. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
    942. 

  942. </P>
    943. 

  943. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
    944. 

  944. the example is simple, but gives the idea of how the tasks could be
    945. 

  945. used to go through states.</FONT></P>
    946. 

  946. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    947. 

  947. </P>
    948. 

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

  949. </P>
    950. 

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

  951. </P>
    952. 

  952. <OL START=3>
    953. 

  953. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>MULTIPLE
    954. 

  954. 	POSSIBLE CALLBACKS FOR TASK</B></FONT></P>
    955. 

  955. </OL>
    956. 

  956. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    957. 

  957. </P>
    958. 

  958. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
    959. 

  959. may be a need to select an option for callback function based on
    960. 

  960. certain criteria, or randomly. </FONT>
    961. 

  961. </P>
    962. 

  962. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    963. 

  963. can achieve that by defining an array of callback function pointers
    964. 

  964. and selecting one based on the criteria you need. </FONT>
    965. 

  965. </P>
    966. 

  966. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    967. 

  967. when a robot detects an obstacle, it may go left, right backwards,
    968. 

  968. etc. Each of the “directions” or “behaviors” are represented
    969. 

  969. by a different callback function. </FONT>
    970. 

  970. </P>
    971. 

  971. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    972. 

  972. </P>
    973. 

  973. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
    974. 

  974. example of using multiple callbacks:</FONT></P>
    975. 

  975. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    976. 

  976. may need to “initialize” variables for a particular task.</FONT></P>
    977. 

  977. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    978. 

  978. this case, define a tasks with two callbacks:</FONT></P>
    979. 

  979. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    980. 

  980. </P>
    981. 

  981. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    982. 

  982. <B>tWork</B> (T_INTERVAL, -1, &amp;workCallbackInit);</FONT></FONT></P>
    983. 

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

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

  985. </P>
    986. 

  986. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    987. 

  987.  workCallbackInit() {</FONT></FONT></P>
    988. 

  988. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    989. 

  989. do your initializationstuff here</FONT></FONT></P>
    990. 

  990. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    991. 

  991. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    992. 

  992. finally assigne the main callback function </FONT></FONT>
    993. 

  993. </P>
    994. 

  994. <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>
    995. 

  995. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    996. 

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

  997. </P>
    998. 

  998. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    999. 

  999. workCallback() {</FONT></FONT></P>
    1000. 

  1000. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1001. 

  1001. main callback function</FONT></FONT></P>
    1002. 

  1002. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</FONT></FONT></P>
    1003. 

  1003. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1004. 

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

  1005. </P>
    1006. 

  1006. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1007. 

  1007. task will initialize during first execution pass and switch to
    1008. 

  1008. “regular” callback execution starting with second pass. There is
    1009. 

  1009. a delay between first and second passes of the task (scheduling
    1010. 

  1010. period, if defined). In order to execute the second pass immediately
    1011. 

  1011. after initialization first pass, change the above code like this:</FONT></P>
    1012. 

  1012. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1013. 

  1013. </P>
    1014. 

  1014. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1015. 

  1015.  workCallbackInit() {</FONT></FONT></P>
    1016. 

  1016. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1017. 

  1017. do your initializationstuff here</FONT></FONT></P>
    1018. 

  1018. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    1019. 

  1019. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1020. 

  1020. finally assigne the main callback function </FONT></FONT>
    1021. 

  1021. </P>
    1022. 

  1022. <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>
    1023. 

  1023. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
    1024. 

  1024. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1025. 

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

  1026. </P>
    1027. 

  1027. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1028. 

  1028. task will run initialization first, then immediately second pass, and
    1029. 

  1029. then switch to processing at regular intervals starting with a third
    1030. 

  1030. pass. </FONT>
    1031. 

  1031. </P>
    1032. 

  1032. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1033. 

  1033. </P>
    1034. 

  1034. <OL START=3>
    1035. 

  1035. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN
    1036. 

  1036. 	EXECUTION SUPPORT </B></FONT>
    1037. 

  1037. 	</P>
    1038. 

  1038. </OL>
    1039. 

  1039. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1040. 

  1040. </P>
    1041. 

  1041. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1042. 

  1042. case of interrupt-driven program flow, tasks could be scheduled to
    1043. 

  1043. run once to request asynchronous execution (request), and then
    1044. 

  1044. re-enabled (restarted) again with a different callback function to
    1045. 

  1045. process the results. </FONT>
    1046. 

  1046. </P>
    1047. 

  1047. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1048. 

  1048. </P>
    1049. 

  1049. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Example</B>:
    1050. 

  1050. event driven distance calculation for ultrasonic pulses. EchoPin #6
    1051. 

  1051. triggers pin change interrupts on rising and falling edges to
    1052. 

  1052. determine the length of ultrasonic pulse.</FONT></P>
    1053. 

  1053. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1054. 

  1054. </P>
    1055. 

  1055. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1056. 

  1056. &lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
    1057. 

  1057. &lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
    1058. 

  1058. ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
    1059. 

  1059. pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
    1060. 

  1060. r;<BR><BR>Task  tMeasure(1000, -1, &amp;measureCallback, &amp;r,
    1061. 

  1061. true);<BR>Task  tDisplay(1000, -1, &amp;displayCallback, &amp;r,
    1062. 

  1062. true);<BR>Task  tPing(0, 1, &amp;pingCalcCallback, &amp;r,
    1063. 

  1063. false);<BR><BR><BR>volatile bool pulseBusy = false;<BR>volatile bool
    1064. 

  1064. pulseTimeout = false;<BR>volatile unsigned long pulseStart =
    1065. 

  1065. 0;<BR>volatile unsigned long pulseStop = 0;<BR>volatile unsigned long
    1066. 

  1066. pingDistance = 0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout)
    1067. 

  1067. {<BR>  if (pulseBusy) return;  // do not trigger if in the middle of
    1068. 

  1068. a pulse<BR>  if (pEcho == HIGH) return; // do not trigger if ECHO pin
    1069. 

  1069. is high<BR>  <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
    1070. 

  1070. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
    1071. 

  1071.  pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
    1072. 

  1072.  tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
    1073. 

  1073. pTrigger = LOW; <BR></FONT></FONT><BR>
    1074. 

  1074. </P>
    1075. 

  1075. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1076. 

  1076. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
    1077. 

  1077. // timeout countdown starts now<BR></FONT></FONT><BR>
    1078. 

  1078. </P>
    1079. 

  1079. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1080. 

  1080. will start the pulse clock on the rising edge of ECHO pin</FONT></FONT></P>
    1081. 

  1081. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1082. 

  1082. <FONT FACE="Courier New, monospace"><FONT SIZE=2>PCintPort::attachInterrupt(ECHOPIN,
    1083. 

  1083. &amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
    1084. 

  1084. </P>
    1085. 

  1085. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1086. 

  1086. Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
    1087. 

  1087. pingStartClock() {<BR>  pulseStart = micros();<BR> 
    1088. 

  1088. PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
    1089. 

  1089.  PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
    1090. 

  1090.  tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
    1091. 

  1091. edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
    1092. 

  1092. = micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
    1093. 

  1093. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1094. 

  1094. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
    1095. 

  1095. pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
    1096. 

  1096. // disable timeout<BR>}<BR></FONT></FONT><BR>
    1097. 

  1097. </P>
    1098. 

  1098. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1099. 

  1099. Stop clock because of the timeout – the wave did not return<BR>void
    1100. 

  1100. pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
    1101. 

  1101.  }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
    1102. 

  1102. callback sets the trigger<BR>void measureCallback() {<BR>  if
    1103. 

  1103. (pulseBusy) {  // already measuring, try again<BR>   
    1104. 

  1104. tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
    1105. 

  1105. milliseconds or max range of ~5.1 meters<BR> 
    1106. 

  1106. tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
    1107. 

  1107. </P>
    1108. 

  1108. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1109. 

  1109. Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
    1110. 

  1110. (pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
    1111. 

  1111. <BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
    1112. 

  1112.  char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
    1113. 

  1113. // cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
    1114. 

  1114. %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
    1115. 

  1115. cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
    1116. 

  1116. put your setup code here, to run once:<BR>  <BR> 
    1117. 

  1117. Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
    1118. 

  1118. LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
    1119. 

  1119. to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
    1120. 

  1120. </P>
    1121. 

  1121. <OL START=3>
    1122. 

  1122. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1123. 

  1123. 	ONENABLE AND ONDISBALE METHODS </B></FONT>
    1124. 

  1124. 	</P>
    1125. 

  1125. </OL>
    1126. 

  1126. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1127. 

  1127. </P>
    1128. 

  1128. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
    1129. 

  1129. a task to flash onboard LED for 5 seconds with random frequency. Task
    1130. 

  1130. should be repeated every 30 seconds indefinitely. Since frequency is
    1131. 

  1131. random, there are two challenges:</FONT></P>
    1132. 

  1132. <OL START=3>
    1133. 

  1133. 	<OL>
    1134. 

  1134. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1135. 

  1135. 		need to make sure LED is turned OFF at the last iteration</FONT></P>
    1136. 

  1136. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1137. 

  1137. 		need to calculate random frequency every time</FONT></P>
    1138. 

  1138. 	</OL>
    1139. 

  1139. </OL>
    1140. 

  1140. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1141. 

  1141. </P>
    1142. 

  1142. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Below
    1143. 

  1143. is the implementation using TaskScheduler </FONT>
    1144. 

  1144. </P>
    1145. 

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

  1146. </P>
    1147. 

  1147. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR></FONT></FONT><BR>
    1148. 

  1148. </P>
    1149. 

  1149. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1150. 

  1150. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1151. 

  1151. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1152. 

  1152. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1153. 

  1153. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1154. 

  1154. </P>
    1155. 

  1155. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1156. 

  1156.  LEDPIN    13</FONT></FONT></P>
    1157. 

  1157. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1158. 

  1158. </P>
    1159. 

  1159. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1160. 

  1160. </P>
    1161. 

  1161. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1162. 

  1162. ts;</FONT></FONT></P>
    1163. 

  1163. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1164. 

  1164. </P>
    1165. 

  1165. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1166. 

  1166. tWrapper(30000, -1, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
    1167. 

  1167. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1168. 

  1168. tBlink(5000, 1, NULL, &amp;ts, false, &amp;BlinkOnEnable,
    1169. 

  1169. &amp;BlinkOnDisable);</FONT></FONT></P>
    1170. 

  1170. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1171. 

  1171. tLED(0, -1, NULL, &amp;ts, false, NULL, &amp;LEDOff);</FONT></FONT></P>
    1172. 

  1172. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1173. 

  1173. </P>
    1174. 

  1174. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1175. 

  1175. WrapperCallback() {</FONT></FONT></P>
    1176. 

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

  1177. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1178. 

  1178. WrapperCallback&quot;);</FONT></FONT></P>
    1179. 

  1179. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1180. 

  1180. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
    1181. 

  1181.   // LED blinking  is initiated </FONT></FONT>
    1182. 

  1182. </P>
    1183. 

  1183. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1184. 

  1184.             <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
    1185. 

  1185. 30 seconds for 5 seconds</FONT></FONT></P>
    1186. 

  1186. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1187. 

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

  1188. </P>
    1189. 

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

  1190. </P>
    1191. 

  1191. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1192. 

  1192. Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
    1193. 

  1193. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1194. 

  1194. and enable LED blinking task, which actually controls</FONT></FONT></P>
    1195. 

  1195. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1196. 

  1196. the hardware (LED in this example)</FONT></FONT></P>
    1197. 

  1197. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1198. 

  1198. BlinkOnEnable() {</FONT></FONT></P>
    1199. 

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

  1200. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1201. 

  1201. BlinkOnEnable&quot;);</FONT></FONT></P>
    1202. 

  1202. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1203. 

  1203. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
    1204. 

  1204. 500 + random(501) );</FONT></FONT></P>
    1205. 

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

  1206. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1207. 

  1207. &amp;LEDOn);</FONT></FONT></P>
    1208. 

  1208. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1209. 

  1209. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.enable();</FONT></FONT></P>
    1210. 

  1210. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1211. 

  1211. </P>
    1212. 

  1212. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1213. 

  1213. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
    1214. 

  1214. Task should be enabled</FONT></FONT></P>
    1215. 

  1215. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1216. 

  1216. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1217. 

  1217. </P>
    1218. 

  1218. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1219. 

  1219. tBlink does not really need a callback function</FONT></FONT></P>
    1220. 

  1220. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1221. 

  1221. since it just waits for 5 seconds for the first </FONT></FONT>
    1222. 

  1222. </P>
    1223. 

  1223. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1224. 

  1224. and only iteration to occur. Once the iteration</FONT></FONT></P>
    1225. 

  1225. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1226. 

  1226. takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
    1227. 

  1227. </P>
    1228. 

  1228. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1229. 

  1229. thus executing its OnDisable method below.</FONT></FONT></P>
    1230. 

  1230. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1231. 

  1231. </P>
    1232. 

  1232. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1233. 

  1233. BlinkOnDisable() {</FONT></FONT></P>
    1234. 

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

  1235. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1236. 

  1236. BlinkOnDisable&quot;);</FONT></FONT></P>
    1237. 

  1237. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1238. 

  1238. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
    1239. 

  1239. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1240. 

  1240. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1241. 

  1241. </P>
    1242. 

  1242. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1243. 

  1243. LEDOn () {</FONT></FONT></P>
    1244. 

  1244. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1245. 

  1245. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1246. 

  1246. LEDOn&quot;);</FONT></FONT></P>
    1247. 

  1247. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1248. 

  1248. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1249. 

  1249. HIGH);</FONT></FONT></P>
    1250. 

  1250. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1251. 

  1251. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1252. 

  1252. &amp;LEDOff);</FONT></FONT></P>
    1253. 

  1253. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1254. 

  1254. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1255. 

  1255. </P>
    1256. 

  1256. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1257. 

  1257. LEDOff () {</FONT></FONT></P>
    1258. 

  1258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1259. 

  1259. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1260. 

  1260. LEDOff&quot;);</FONT></FONT></P>
    1261. 

  1261. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1262. 

  1262. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1263. 

  1263. LOW);</FONT></FONT></P>
    1264. 

  1264. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1265. 

  1265. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1266. 

  1266. &amp;LEDOn);</FONT></FONT></P>
    1267. 

  1267. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1268. 

  1268. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1269. 

  1269. </P>
    1270. 

  1270. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1271. 

  1271. Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
    1272. 

  1272. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1273. 

  1273. to make sure the LED is turned off when the tBlink</FONT></FONT></P>
    1274. 

  1274. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1275. 

  1275. task finishes (or disabled ahead of time)</FONT></FONT></P>
    1276. 

  1276. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1277. 

  1277. </P>
    1278. 

  1278. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1279. 

  1279. setup() {</FONT></FONT></P>
    1280. 

  1280. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1281. 

  1281. </P>
    1282. 

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

  1283. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
    1284. 

  1284. </FONT></FONT>
    1285. 

  1285. </P>
    1286. 

  1286. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1287. 

  1287. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pinMode(LEDPIN,
    1288. 

  1288. OUTPUT); </FONT></FONT>
    1289. 

  1289. </P>
    1290. 

  1290. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1291. 

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

  1292. </P>
    1293. 

  1293. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1294. 

  1294. loop() {</FONT></FONT></P>
    1295. 

  1295. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1296. 

  1296. <FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
    1297. 

  1297. code here, to run repeatedly:</FONT></FONT></P>
    1298. 

  1298. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1299. 

  1299. </P>
    1300. 

  1300. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1301. 

  1301. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    1302. 

  1302. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1303. 

  1303. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1304. 

  1304. </P>
    1305. 

  1305. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1306. 

  1306. </P>
    1307. 

  1307. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1308. 

  1308. </P>
    1309. 

  1309. <OL START=3>
    1310. 

  1310. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1311. 

  1311. 	STATUS REQUEST OBJECTS  </B></FONT>
    1312. 

  1312. 	</P>
    1313. 

  1313. </OL>
    1314. 

  1314. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1315. 

  1315. </P>
    1316. 

  1316. <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
    1317. 

  1317. test emulates querying 3 sensors once every 10 seconds, each could
    1318. 

  1318. respond with a different delay (ultrasonic sensors for instance) and
    1319. 

  1319. printing a min value of the three when all three have reported their
    1320. 

  1320. values.</FONT></FONT></P>
    1321. 

  1321. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1322. 

  1322. </P>
    1323. 

  1323. <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
    1324. 

  1324. overall timeout of 1 second is setup as well.</FONT></FONT></P>
    1325. 

  1325. <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
    1326. 

  1326. error message needs to be printed if a timeout occurred instead of a
    1327. 

  1327. value.</FONT></FONT></P>
    1328. 

  1328. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1329. 

  1329. </P>
    1330. 

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

  1331. </P>
    1332. 

  1332. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1333. 

  1333. </P>
    1334. 

  1334. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1335. 

  1335. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1336. 

  1336. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1337. 

  1337. _TASK_STATUS_REQUEST</FONT></FONT></P>
    1338. 

  1338. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1339. 

  1339. </P>
    1340. 

  1340. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1341. 

  1341. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1342. 

  1342. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1343. 

  1343. </P>
    1344. 

  1344. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
    1345. 

  1345. measure;</FONT></FONT></P>
    1346. 

  1346. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1347. 

  1347. </P>
    1348. 

  1348. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1349. 

  1349. ts; </FONT></FONT>
    1350. 

  1350. </P>
    1351. 

  1351. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1352. 

  1352. </P>
    1353. 

  1353. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1354. 

  1354. tCycle(10000, -1, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
    1355. 

  1355. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1356. 

  1356. tMeasure(1000, 1, &amp;MeasureCallback, &amp;ts, false,
    1357. 

  1357. &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
    1358. 

  1358. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1359. 

  1359. tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
    1360. 

  1360. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1361. 

  1361. tSensor1(0, 1, &amp;S1Callback, &amp;ts, false, &amp;S1Enable);</FONT></FONT></P>
    1362. 

  1362. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1363. 

  1363. tSensor2(0, 1, &amp;S2Callback, &amp;ts, false, &amp;S2Enable);</FONT></FONT></P>
    1364. 

  1364. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1365. 

  1365. tSensor3(0, 1, &amp;S3Callback, &amp;ts, false, &amp;S3Enable);</FONT></FONT></P>
    1366. 

  1366. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1367. 

  1367. </P>
    1368. 

  1368. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1369. 

  1369. </P>
    1370. 

  1370. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
    1371. 

  1371. distance, d1, d2, d3;</FONT></FONT></P>
    1372. 

  1372. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1373. 

  1373. </P>
    1374. 

  1374. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1375. 

  1375. CycleCallback() {</FONT></FONT></P>
    1376. 

  1376. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1377. 

  1377. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
    1378. 

  1378. Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></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"> 
    1382. 

  1382. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
    1383. 

  1383. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1384. 

  1384. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1385. 

  1385. </P>
    1386. 

  1386. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1387. 

  1387. </P>
    1388. 

  1388. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1389. 

  1389. </P>
    1390. 

  1390. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1391. 

  1391. MeasureEnable() {</FONT></FONT></P>
    1392. 

  1392. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1393. 

  1393. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureEnable:
    1394. 

  1394. Activating sensors&quot;);  </FONT></FONT>
    1395. 

  1395. </P>
    1396. 

  1396. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1397. 

  1397. </P>
    1398. 

  1398. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1399. 

  1399. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</FONT></FONT></P>
    1400. 

  1400. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1401. 

  1401. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.setWaiting(3);
    1402. 

  1402. // Set the StatusRequest to wait for 3 signals. </FONT></FONT>
    1403. 

  1403. </P>
    1404. 

  1404. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1405. 

  1405. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
    1406. 

  1406. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1407. 

  1407. </P>
    1408. 

  1408. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1409. 

  1409. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
    1410. 

  1410. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1411. 

  1411. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
    1412. 

  1412. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1413. 

  1413. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</FONT></FONT></P>
    1414. 

  1414. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1415. 

  1415. </P>
    1416. 

  1416. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1417. 

  1417. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1418. 

  1418. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1419. 

  1419. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1420. 

  1420. </P>
    1421. 

  1421. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1422. 

  1422. MeasureCallback() {</FONT></FONT></P>
    1423. 

  1423. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1424. 

  1424. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    1425. 

  1425. Invoked by calculate task or one second later&quot;);  </FONT></FONT>
    1426. 

  1426. </P>
    1427. 

  1427. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1428. 

  1428. </P>
    1429. 

  1429. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1430. 

  1430. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if
    1431. 

  1431. (measure.pending()) {</FONT></FONT></P>
    1432. 

  1432. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1433. 

  1433.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
    1434. 

  1434. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1435. 

  1435.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
    1436. 

  1436.  // signal error</FONT></FONT></P>
    1437. 

  1437. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1438. 

  1438.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    1439. 

  1439. Timeout!&quot;);</FONT></FONT></P>
    1440. 

  1440. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1441. 

  1441. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1442. 

  1442. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1443. 

  1443. <FONT FACE="Courier New, monospace"><FONT SIZE=2>else {</FONT></FONT></P>
    1444. 

  1444. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1445. 

  1445.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
    1446. 

  1446. Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
    1447. 

  1447. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1448. 

  1448. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1449. 

  1449. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1450. 

  1450. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1451. 

  1451. </P>
    1452. 

  1452. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1453. 

  1453. MeasureDisable() {</FONT></FONT></P>
    1454. 

  1454. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1455. 

  1455. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
    1456. 

  1456. Cleaning up&quot;);  </FONT></FONT>
    1457. 

  1457. </P>
    1458. 

  1458. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1459. 

  1459. </P>
    1460. 

  1460. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1461. 

  1461. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</FONT></FONT></P>
    1462. 

  1462. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1463. 

  1463. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.disable();</FONT></FONT></P>
    1464. 

  1464. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1465. 

  1465. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
    1466. 

  1466. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></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-left: 0.49in; margin-bottom: 0in"><BR>
    1470. 

  1470. </P>
    1471. 

  1471. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1472. 

  1472. CalcCallback() {</FONT></FONT></P>
    1473. 

  1473. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1474. 

  1474. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
    1475. 

  1475. calculating&quot;);  </FONT></FONT>
    1476. 

  1476. </P>
    1477. 

  1477. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1478. 

  1478. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
    1479. 

  1479. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1480. 

  1480. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
    1481. 

  1481. measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
    1482. 

  1482. ended successfully</FONT></FONT></P>
    1483. 

  1483. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1484. 

  1484.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d1 &lt;
    1485. 

  1485. d2 ? d1 : d2;</FONT></FONT></P>
    1486. 

  1486. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1487. 

  1487.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
    1488. 

  1488. distance ? d3 : distance;</FONT></FONT></P>
    1489. 

  1489. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1490. 

  1490.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</FONT></FONT></P>
    1491. 

  1491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1492. 

  1492. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1493. 

  1493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1494. 

  1494. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1495. 

  1495. </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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1499. 

  1499. Simulation code for sensor 1</FONT></FONT></P>
    1500. 

  1500. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1501. 

  1501.  ----------------------------</FONT></FONT></P>
    1502. 

  1502. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1503. 

  1503. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1504. 

  1504. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1505. 

  1505. S1Enable() {</FONT></FONT></P>
    1506. 

  1506. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1507. 

  1507. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
    1508. 

  1508. Triggering sensor1. Delay=&quot;);  </FONT></FONT>
    1509. 

  1509. </P>
    1510. 

  1510. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1511. 

  1511. </P>
    1512. 

  1512. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1513. 

  1513. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
    1514. 

  1514. random(1200) );  // Simulating sensor delay, which could go over 1
    1515. 

  1515. second and cause timeout</FONT></FONT></P>
    1516. 

  1516. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1517. 

  1517. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
    1518. 

  1518. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1519. 

  1519. </P>
    1520. 

  1520. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1521. 

  1521. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1522. 

  1522. tSensor1.getInterval() );</FONT></FONT></P>
    1523. 

  1523. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1524. 

  1524. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1525. 

  1525. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1526. 

  1526. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1527. 

  1527. </P>
    1528. 

  1528. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1529. 

  1529. S1Callback() {</FONT></FONT></P>
    1530. 

  1530. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1531. 

  1531. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
    1532. 

  1532. Emulating measurement. d1=&quot;);  </FONT></FONT>
    1533. 

  1533. </P>
    1534. 

  1534. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1535. 

  1535. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
    1536. 

  1536. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1537. 

  1537. measurement </FONT></FONT>
    1538. 

  1538. </P>
    1539. 

  1539. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1540. 

  1540. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1541. 

  1541. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1542. 

  1542. </P>
    1543. 

  1543. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1544. 

  1544. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d1); </FONT></FONT>
    1545. 

  1545. </P>
    1546. 

  1546. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></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-left: 0.49in; margin-bottom: 0in"><BR>
    1550. 

  1550. </P>
    1551. 

  1551. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1552. 

  1552. Simulation code for sensor 2</FONT></FONT></P>
    1553. 

  1553. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1554. 

  1554.  ----------------------------</FONT></FONT></P>
    1555. 

  1555. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1556. 

  1556. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1557. 

  1557. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1558. 

  1558. S2Enable() {</FONT></FONT></P>
    1559. 

  1559. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1560. 

  1560. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
    1561. 

  1561. Triggering sensor2. Delay=&quot;);  </FONT></FONT>
    1562. 

  1562. </P>
    1563. 

  1563. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1564. 

  1564. </P>
    1565. 

  1565. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1566. 

  1566. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
    1567. 

  1567. random(1200) );  // Simulating sensor delay, which could go over 1
    1568. 

  1568. second and cause timeout</FONT></FONT></P>
    1569. 

  1569. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1570. 

  1570. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</FONT></FONT></P>
    1571. 

  1571. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1572. 

  1572. </P>
    1573. 

  1573. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1574. 

  1574. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1575. 

  1575. tSensor2.getInterval() );</FONT></FONT></P>
    1576. 

  1576. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1577. 

  1577. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1578. 

  1578. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1579. 

  1579. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1580. 

  1580. </P>
    1581. 

  1581. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1582. 

  1582. S2Callback() {</FONT></FONT></P>
    1583. 

  1583. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1584. 

  1584. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
    1585. 

  1585. Emulating measurement. d2=&quot;);  </FONT></FONT>
    1586. 

  1586. </P>
    1587. 

  1587. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1588. 

  1588. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
    1589. 

  1589. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1590. 

  1590. measurement</FONT></FONT></P>
    1591. 

  1591. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1592. 

  1592. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1593. 

  1593. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1594. 

  1594. </P>
    1595. 

  1595. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1596. 

  1596. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d2); 
    1597. 

  1597. </FONT></FONT>
    1598. 

  1598. </P>
    1599. 

  1599. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1600. 

  1600. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1601. 

  1601. </P>
    1602. 

  1602. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1603. 

  1603. </P>
    1604. 

  1604. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1605. 

  1605. Simulation code for sensor 3</FONT></FONT></P>
    1606. 

  1606. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1607. 

  1607.  ----------------------------</FONT></FONT></P>
    1608. 

  1608. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1609. 

  1609. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1610. 

  1610. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1611. 

  1611. S3Enable() {</FONT></FONT></P>
    1612. 

  1612. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1613. 

  1613. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
    1614. 

  1614. Triggering sensor3. Delay=&quot;);  </FONT></FONT>
    1615. 

  1615. </P>
    1616. 

  1616. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1617. 

  1617. </P>
    1618. 

  1618. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1619. 

  1619. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
    1620. 

  1620. random(1200) );  // Simulating sensor delay, which could go over 1
    1621. 

  1621. second and cause timeout</FONT></FONT></P>
    1622. 

  1622. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1623. 

  1623. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></P>
    1624. 

  1624. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1625. 

  1625. </P>
    1626. 

  1626. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1627. 

  1627. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1628. 

  1628. tSensor3.getInterval() );</FONT></FONT></P>
    1629. 

  1629. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1630. 

  1630. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1631. 

  1631. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1632. 

  1632. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1633. 

  1633. </P>
    1634. 

  1634. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1635. 

  1635. S3Callback() {</FONT></FONT></P>
    1636. 

  1636. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1637. 

  1637. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
    1638. 

  1638. Emulating measurement. d3=&quot;);  </FONT></FONT>
    1639. 

  1639. </P>
    1640. 

  1640. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1641. 

  1641. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
    1642. 

  1642. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1643. 

  1643. measurement</FONT></FONT></P>
    1644. 

  1644. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1645. 

  1645. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1646. 

  1646. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1647. 

  1647. </P>
    1648. 

  1648. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1649. 

  1649. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d3); </FONT></FONT>
    1650. 

  1650. </P>
    1651. 

  1651. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1652. 

  1652. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1653. 

  1653. </P>
    1654. 

  1654. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1655. 

  1655. </P>
    1656. 

  1656. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1657. 

  1657. Main Arduino code</FONT></FONT></P>
    1658. 

  1658. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1659. 

  1659.  Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
    1660. 

  1660. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1661. 

  1661. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1662. 

  1662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1663. 

  1663. setup() {</FONT></FONT></P>
    1664. 

  1664. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1665. 

  1665. </P>
    1666. 

  1666. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1667. 

  1667. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</FONT></FONT></P>
    1668. 

  1668. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1669. 

  1669. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;TaskScheduler
    1670. 

  1670. StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
    1671. 

  1671. </P>
    1672. 

  1672. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1673. 

  1673. <FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
    1674. 

  1674. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1675. 

  1675. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1676. 

  1676. </P>
    1677. 

  1677. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1678. 

  1678. loop() {</FONT></FONT></P>
    1679. 

  1679. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1680. 

  1680. </P>
    1681. 

  1681. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1682. 

  1682. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    1683. 

  1683. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1684. 

  1684. </P>
    1685. 

  1685. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1686. 

  1686. </BODY>
    1687. 

  1687. </HTML>
    1688.