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    26. 

  26. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task Scheduler –
    27. 

  27. cooperative multitasking for Arduino microcontrollers</B></P>
    28. 

  28. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Version 1.8.1:
    29. 

  29. 2015-10-21</B></P>
    30. 

  30. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    31. 

  31. </P>
    32. 

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

  33. <P CLASS="western" STYLE="margin-bottom: 0in">A lightweight
    34. 

  34. implementation of cooperative multitasking (task scheduling)
    35. 

  35. supporting:</P>
    36. 

  36. <OL>
    37. 

  37. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Periodic task
    38. 

  38. 	execution (with dynamic execution period in milliseconds)</P>
    39. 

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

  40. 	iterations (n times)</P>
    41. 

  41. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution of tasks
    42. 

  42. 	in predefined sequence</P>
    43. 

  43. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Dynamic change of
    44. 

  44. 	task execution parameters (frequency, number of iterations, callback
    45. 

  45. 	function)</P>
    46. 

  46. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Power saving via
    47. 

  47. 	entering IDLE sleep mode between tasks are scheduled to run</P>
    48. 

  48. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for task
    49. 

  49. 	invocation via Status Request object</P>
    50. 

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

  51. 	IDs and Control Points for error handling and watchdog timer</P>
    52. 

  52. </OL>
    53. 

  53. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    54. 

  54. </P>
    55. 

  55. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK</B>:</P>
    56. 

  56. <P CLASS="western" STYLE="margin-bottom: 0in">“Task” is a
    57. 

  57. container concept that links together:</P>
    58. 

  58. <OL>
    59. 

  59. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution interval</P>
    60. 

  60. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution event
    61. 

  61. 	(Status Request)</P>
    62. 

  62. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
    63. 

  63. 	execution iterations</P>
    64. 

  64. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Piece of code
    65. 

  65. 	performing task activities (callback functions)</P>
    66. 

  66. </OL>
    67. 

  67. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    68. 

  68. </P>
    69. 

  69. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Tasks</B> are linked
    70. 

  70. into execution <B>chains</B>, which are processed by the “Scheduler”
    71. 

  71. in the order they are linked.</P>
    72. 

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

  73. </P>
    74. 

  74. <P CLASS="western" STYLE="margin-bottom: 0in">Each task performs its
    75. 

  75. function via callback function. Scheduler calls Task’s callback
    76. 

  76. function periodically until task is disabled or task runs out of
    77. 

  77. iterations. In addition to “regular” callback, two methods could
    78. 

  78. be enabled for each task: a callback function invoked once when task
    79. 

  79. is enabled, and a callback function invoked once when the task is
    80. 

  80. disabled. Those two special methods allows task to properly initiate
    81. 

  81. themselves for execution and clean-up after execution is over. 
    82. 

  82. </P>
    83. 

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

  84. </P>
    85. 

  85. <P CLASS="western" STYLE="margin-bottom: 0in">Tasks are responsible
    86. 

  86. for supporting <B>cooperative</B> <B>multitasking</B> by being “good
    87. 

  87. neighbors”, i.e., running their callback functions quickly in a
    88. 

  88. non-blocking way and releasing control as soon as possible. 
    89. 

  89. </P>
    90. 

  90. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    91. 

  91. </P>
    92. 

  92. <P CLASS="western" STYLE="margin-bottom: 0in">“Scheduler” is
    93. 

  93. executing Tasks' callback functions in the order the tasks were added
    94. 

  94. to the chain, from first to last. Scheduler stops and exists after
    95. 

  95. processing the chain once in order to allow other statements in the
    96. 

  96. main code of <B>loop()</B> function to run.  This <B>a “scheduling
    97. 

  97. pass”.</B></P>
    98. 

  98. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    99. 

  99. </P>
    100. 

  100. <P CLASS="western" STYLE="margin-bottom: 0in">If compiled with
    101. 

  101. <FONT FACE="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</FONT>
    102. 

  102. enabled, the scheduler will place processor into IDLE sleep mode (for
    103. 

  103. approximately 1 ms, as the timer interrupt will wake it up), after
    104. 

  104. what is determined to be an “idle” pass. An Idle Pass is a pass
    105. 

  105. through the task chain when no Tasks were scheduled to run their
    106. 

  106. callback functions. This is done to avoid repetitive empty passes
    107. 

  107. through the chain when no tasks need to be executed. If any of the
    108. 

  108. tasks in the chain always requires immediate execution (aInterval =
    109. 

  109. 0), then there will be no IDLE sleep between task callback execution.</P>
    110. 

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

  111. </P>
    112. 

  112. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    113. 

  113. <B>Below is the flowchart of a Task lifecycle:</B></P>
    114. 

  114. <P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=747 BORDER=0></P>
    115. 

  115. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    116. 

  116. </P>
    117. 

  117. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Task
    118. 

  118. Scheduler uses <B>millis()</B> to determine if tasks are ready to be
    119. 

  119. invoked. Therefore, if you put your device to any “deep” sleep
    120. 

  120. mode disabling timer interrupts, the <B>millis()</B> count will be
    121. 

  121. suspended, leading to effective suspension of scheduling. Upon wake
    122. 

  122. up, active tasks need to be re-enabled, which will effectively reset
    123. 

  123. their internal time scheduling variables to the new value of
    124. 

  124. <B>millis(). </B>Time spent in deep sleep mode should be considered
    125. 

  125. “frozen”, i.e., if a task was scheduled to run in 1 second from
    126. 

  126. now, and device was put to sleep for 5 minutes, upon wake up, the
    127. 

  127. task will still be scheduled 1 second from the time of wake up.
    128. 

  128. Executing <B>enable() </B>function on this tasks will make it run as
    129. 

  129. soon as possible. This is a concern only for tasks which are required
    130. 

  130. to run in a truly periodical manner (in absolute time terms). 
    131. 

  131. </P>
    132. 

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

  133. </P>
    134. 

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

  135. time-only invocation, tasks can be scheduled to wait on an event
    136. 

  136. employing StatusRequest objects (more about Status Requests later).</P>
    137. 

  137. <P CLASS="western" STYLE="margin-bottom: 0in">Consider a scenario
    138. 

  138. when one task (t1) is performing a function which affects execution
    139. 

  139. of many tasks (t2, t3). In this case the task t1 will “signal”
    140. 

  140. completion of its function via Status Request object. Tasks t2 and t3
    141. 

  141. are “waiting” on the same Status Request object. As soon as
    142. 

  142. status request completes, t2 and t3 are activated.</P>
    143. 

  143. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    144. 

  144. </P>
    145. 

  145. <P CLASS="western" STYLE="margin-bottom: 0in">Alternative scenario is
    146. 

  146. the ne task (t1) and waiting for the completion of a number of tasks
    147. 

  147. (t2, t3). When done, t2 and t3 signal completion of their functions,
    148. 

  148. t1 is invoked. 
    149. 

  149. </P>
    150. 

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

  151. </P>
    152. 

  152. <P CLASS="western" STYLE="margin-bottom: 0in">Please see the examples
    153. 

  153. at the end of this document.</P>
    154. 

  154. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    155. 

  155. </P>
    156. 

  156. <P CLASS="western" STYLE="margin-bottom: 0in"><B>COMPILE PARAMETERS:</B></P>
    157. 

  157. <P CLASS="western" STYLE="margin-bottom: 0in">This library could be
    158. 

  158. compiled with several options. 
    159. 

  159. </P>
    160. 

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

  161. be defined before inclusion of the library header file into the
    162. 

  162. sketch.</P>
    163. 

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

  164. </P>
    165. 

  165. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    166. 

  166. <B>_TASK_TIMECRITICAL</B></P>
    167. 

  167. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    168. 

  168. library with time critical tracking option enabled.</P>
    169. 

  169. <P CLASS="western" STYLE="margin-bottom: 0in">Time critical option
    170. 

  170. keeps track where next execution time of the task falls, and makes it
    171. 

  171. available via API through Task::<B> getOverrun() </B>function. If
    172. 

  172. <B>getOverrun </B>returns a negative value, this Task’s next
    173. 

  173. execution time is in the past, and task is behind schedule. This most
    174. 

  174. probably means that either task’s callback function runtime is too
    175. 

  175. long, or the execution interval is too short (then schedule is too
    176. 

  176. aggressive).</P>
    177. 

  177. <P CLASS="western" STYLE="margin-bottom: 0in">A positive value
    178. 

  178. indicates that task is on schedule, and callback functions have
    179. 

  179. enough time to finish before the next scheduled pass. 
    180. 

  180. </P>
    181. 

  181. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    182. 

  182. </P>
    183. 

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

  184. <B>_TASK_SLEEP_ON_IDLE_RUN</B></P>
    185. 

  185. <P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
    186. 

  186. library with the <B>sleep</B> option enabled (AVR boards only).</P>
    187. 

  187. <P CLASS="western" STYLE="margin-bottom: 0in">When enabled, scheduler
    188. 

  188. will put the microcontroller into <B>SLEEP_MODE_IDLE</B> state if
    189. 

  189. none of the tasks’ callback functions were activated during pass.
    190. 

  190. <B>IDLE</B> state is interrupted by timers once every 1 ms. Helps
    191. 

  191. conserve power.  Device in SLEEP_MODE_IDLE wakes up to all hardware
    192. 

  192. and timer interrupts, so scheduling is kept current.</P>
    193. 

  193. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    194. 

  194. </P>
    195. 

  195. <P CLASS="western" STYLE="margin-bottom: 0in">#define
    196. 

  196. <B>_TASK_STATUS_REQUEST</B></P>
    197. 

  197. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    198. 

  198. TaskScheduler with support for StatusRequest object. Status Requests
    199. 

  199. are objects allowing tasks to wait on an event, and signal event
    200. 

  200. completion to each other. 
    201. 

  201. </P>
    202. 

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

  203. </P>
    204. 

  204. <P CLASS="western" STYLE="margin-bottom: 0in">#define <B>_TASK_WDT_IDS</B></P>
    205. 

  205. <P CLASS="western" STYLE="margin-bottom: 0in">…will compile
    206. 

  206. TaskScheduler with support for Task Ids and Control Points. Each task
    207. 

  207. can be (and is by default) assigned an ID, which could be used to
    208. 

  208. identify the task in case there is a problem with it. Furthermore
    209. 

  209. within the task, Control Points could be defined to further help with
    210. 

  210. pinpointing potential problem areas. For instance, the tasks which
    211. 

  211. deal with external resources (sensors, serial communications,
    212. 

  212. anything hardware dependent) can be blocked (or hung), by failed
    213. 

  213. hardware. In this case, a watchdog timer could be employed to trap
    214. 

  214. such a failed task, and identify which one (by task id) and where in
    215. 

  215. the task (by a control point) the problem is likely located.</P>
    216. 

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

  217. </P>
    218. 

  218. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>by
    219. 

  219. default, talk IDs are assigned sequentially (1, 2, 3, …) to the
    220. 

  220. tasks as they are being created. Programmer can assign a specific
    221. 

  221. task id. <B>Task ids are unsigned integers.</B></P>
    222. 

  222. <P CLASS="western" STYLE="margin-bottom: 0in">Control points provide
    223. 

  223. a way to identify potential problem points within a task. Control
    224. 

  224. points are <B>unsigned integers </B>as well. Please note that there
    225. 

  225. is only one control point per task, and it is set to zero when the
    226. 

  226. task’s callback function is invoked (this is done to prevent
    227. 

  227. “stray” control point from previous task(s) confusing the
    228. 

  228. matters.</P>
    229. 

  229. <P CLASS="western" STYLE="margin-bottom: 0in">Example #7 contains a
    230. 

  230. test of task ID and control points functionality.  
    231. 

  231. </P>
    232. 

  232. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    233. 

  233. </P>
    234. 

  234. <P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: above
    235. 

  235. parameters are DISABLED by default, and need to be explicitly
    236. 

  236. enabled.</B></P>
    237. 

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

  238. </P>
    239. 

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

  240. </P>
    241. 

  241. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    242. 

  242. </P>
    243. 

  243. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=4><B>API
    244. 

  244. DOCUMENTATION:</B></FONT></P>
    245. 

  245. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    246. 

  246. </P>
    247. 

  247. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    248. 

  248. <FONT SIZE=4><B>TASKS:</B></FONT></P>
    249. 

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

  250. </P>
    251. 

  251. <P CLASS="western" STYLE="margin-bottom: 0in">CREATION:</P>
    252. 

  252. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
    253. 

  253. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    254. 

  254. </P>
    255. 

  255. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
    256. 

  256. constructor. 
    257. 

  257. </P>
    258. 

  258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
    259. 

  259. no parameters and creates a task that could be scheduled to run at
    260. 

  260. every scheduling pass indefinitely, but does not have a callback
    261. 

  261. function defined, so no execution will actually take place. 
    262. 

  262. </P>
    263. 

  263. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
    264. 

  264. tasks are created <B>disabled</B> by default.</P>
    265. 

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

  266. </P>
    267. 

  267. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    268. 

  268. <B>Task(unsigned long aInterval, long aIterations, void
    269. 

  269. (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
    270. 

  270. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    271. 

  271. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    272. 

  272. </P>
    273. 

  273. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Constructor
    274. 

  274. with parameters. 
    275. 

  275. </P>
    276. 

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

  277. a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
    278. 

  278. &lt;aIterations&gt; times, executing &lt;aCallback&gt; function on
    279. 

  279. every pass. 
    280. 

  280. </P>
    281. 

  281. <OL>
    282. 

  282. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
    283. 

  283. 	milliseconds (<B>default = 0)</B></P>
    284. 

  284. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aIteration in
    285. 

  285. 	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
    286. 

  286. 	</B>Tasks do not remember the number of iteration set initially.
    287. 

  287. 	After the iterations are done, internal iteration counter is 0. If
    288. 

  288. 	you need to perform another set of iterations, you need to set the
    289. 

  289. 	number of iterations again. <BR><B>Note: </B>Tasks which performed
    290. 

  290. 	all their iterations remain active. 
    291. 

  291. 	</P>
    292. 

  292. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
    293. 

  293. 	pointer to a void callback function without parameters (<B>default =
    294. 

  294. 	NULL)</B></P>
    295. 

  295. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
    296. 

  296. 	<B>optional</B> reference to existing scheduler. If supplied (not
    297. 

  297. 	NULL) this task will be appended to the task chain of the current
    298. 

  298. 	scheduler). (<B>default = NULL)</B></P>
    299. 

  299. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aEnable –
    300. 

  300. 	<B>optional</B>. Value of <B>true </B>will create task enabled.
    301. 

  301. 	(<B>default = false)</B></P>
    302. 

  302. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
    303. 

  303. 	pointer to a bool callback function without parameters, invoked when
    304. 

  304. 	task is enabled. If OnEnable function returns <B>true</B>, task is
    305. 

  305. 	enabled. If <B>OnEnable</B> function return <B>false</B>, task
    306. 

  306. 	remains disabled (<B>default = NULL)</B></P>
    307. 

  307. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
    308. 

  308. 	pointer to a void callback function without parameters, invoked when
    309. 

  309. 	task is disabled (<B>default = NULL)</B></P>
    310. 

  310. </OL>
    311. 

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

  312. </P>
    313. 

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

  314. tasks are created <B>disabled</B> by default (unless aEnable = true).
    315. 

  315. You have to explicitly enable the task for execution.</P>
    316. 

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

  317. task is scheduled for execution immediately. Enable tasks with delay
    318. 

  318. (standard execution interval or specific execution interval) in order
    319. 

  319. to defer first run of the task.</P>
    320. 

  320. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    321. 

  321. </P>
    322. 

  322. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    323. 

  323. <B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
    324. 

  324. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    325. 

  325. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    326. 

  326. </P>
    327. 

  327. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    328. 

  328. compiled with support for Status Request objects, this constructor
    329. 

  329. creates a Task for activation on event (since such tasks must run
    330. 

  330. <B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
    331. 

  331. <I>enabled</I> status will be set by that method.</P>
    332. 

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

  333. </P>
    334. 

  334. <P CLASS="western" STYLE="margin-bottom: 0in"><B>INFORMATION</B></P>
    335. 

  335. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    336. 

  336. following 3 “getter” functions return task status
    337. 

  337. (enabled/disabled), execution interval in milliseconds, number of
    338. 

  338. <I><B>remaining</B></I> iterations. 
    339. 

  339. </P>
    340. 

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

  341. </P>
    342. 

  342. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
    343. 

  343. isEnabled() </B>
    344. 

  344. </P>
    345. 

  345. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>unsigned
    346. 

  346. long getInterval()</B></P>
    347. 

  347. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
    348. 

  348. getIterations() </B>
    349. 

  349. </P>
    350. 

  350. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    351. 

  351. </P>
    352. 

  352. <P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
    353. 

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

  354. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    355. 

  355. enabled, tasks are monitored for “long running” scenario. A “long
    356. 

  356. running” task is a task that does not finish processing its
    357. 

  357. callback functions quickly, and thus creates a situation for itself
    358. 

  358. and other tasks where they don't run on a scheduled interval, but
    359. 

  359. rather “catch up” and are behind.  When task scheduler sets the
    360. 

  360. next execution target time, it adds Task's execution interval to the
    361. 

  361. previously scheduled execution time:</P>
    362. 

  362. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">	<B>next
    363. 

  363. execution time = previous execution time + task execution interval</B></P>
    364. 

  364. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    365. 

  365. </P>
    366. 

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

  367. <B>next execution time</B> happens to be already in the past (<B>next
    368. 

  368. execution time</B> &lt; <B>millis()</B>), then task is considered
    369. 

  369. <I><B>overrun</B></I>. <B>GetOverrun</B> function returns number of
    370. 

  370. milliseconds between next execution time and current time. If the
    371. 

  371. <B>value is negative</B>, the task is overrun by that many
    372. 

  372. milliseconds. 
    373. 

  373. </P>
    374. 

  374. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Positive
    375. 

  375. value indicate number of milliseconds of slack this task has for
    376. 

  376. execution purposes. 
    377. 

  377. </P>
    378. 

  378. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    379. 

  379. </P>
    380. 

  380. <P CLASS="western" STYLE="margin-bottom: 0in"><B>unsigned long
    381. 

  381. getRunCounter()</B></P>
    382. 

  382. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    383. 

  383. the number of the current run. “Current run” is the number of
    384. 

  384. times a callback function has been invoked since the last time a task
    385. 

  385. was enabled. <BR><BR>
    386. 

  386. </P>
    387. 

  387. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    388. 

  388. </B>The <B>runCounter</B> value is incremented <I>before</I> callback
    389. 

  389. function is invoked. If a task is checking the <B>runCounter</B>
    390. 

  390. value within its callback function, then the first run value is 1. 
    391. 

  391. </P>
    392. 

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

  393. task T1 is checking the <B>runCounter</B> value of another task (T2)
    394. 

  394. , then value = 0 indicates that T2 has not been invoked yet, and
    395. 

  395. value = 1 indicates that T2 has run once. 
    396. 

  396. </P>
    397. 

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

  398. </P>
    399. 

  399. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    400. 

  400. isFirstIteration()</B></P>
    401. 

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

  402. whether current pass is a first iteration of the task. 
    403. 

  403. </P>
    404. 

  404. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
    405. 

  405. isLastIteration()</B></P>
    406. 

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

  407. tasks with a limited number of iterations only, indicates whether
    408. 

  408. current pass is the last iteration. 
    409. 

  409. </P>
    410. 

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

  411. </P>
    412. 

  412. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    413. 

  413. <B>CONTROL:</B></P>
    414. 

  414. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    415. 

  415. <BR>
    416. 

  416. </P>
    417. 

  417. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
    418. 

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

  419. </P>
    420. 

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

  421. the task, and schedules it for immediate execution (without delay) at
    422. 

  422. this or next scheduling pass depending on when the task was enabled.
    423. 

  423. Scheduler will execute the next pass without any delay because there
    424. 

  424. is a task which was enabled and requires execution. 
    425. 

  425. </P>
    426. 

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

  427. </P>
    428. 

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

  429. </B>enable() invokes task’s <B>OnEnable</B> method (if not NULL),
    430. 

  430. which can prepare task for execution. <B>OnEnable</B> must return a
    431. 

  431. value of <B>true</B> for task to be enabled. If <B>OnEnable</B>
    432. 

  432. returns <B>false</B>, task remains disabled.  <B>OnEnable</B> is
    433. 

  433. invoked every time <B>enable</B> is called, regardless if task is
    434. 

  434. already enabled or not. 
    435. 

  435. </P>
    436. 

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

  437. </P>
    438. 

  438. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool enableIfNot();</B></P>
    439. 

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

  440. </P>
    441. 

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

  442. the task only if it was previously disabled. Returns previous enable
    443. 

  443. state: <B>true</B> if task was already enabled, and <B>false</B> if
    444. 

  444. task was disabled.</P>
    445. 

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

  446. </P>
    447. 

  447. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
    448. 

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

  449. </P>
    450. 

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

  451. the task for execution after a delay (aInterval), but does not change
    452. 

  452. the enabled/disabled status of the task. 
    453. 

  453. </P>
    454. 

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

  455. </P>
    456. 

  456. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    457. 

  457. </B>a delay of 0 (zero) will delay task for current execution
    458. 

  458. interval. Use <B>forceNextIteration() </B>method to force execution
    459. 

  459. of the task’s callback during immediate next scheduling pass. 
    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
    464. 

  464. forceNextIteration();</B></P>
    465. 

  465. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    466. 

  466. </P>
    467. 

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

  468. the task for execution during immediate next scheduling pass.</P>
    469. 

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

  470. </P>
    471. 

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

  472. </B>Task’s schedule is adjusted to run from this moment in time.
    473. 

  473. For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
    474. 

  474. calling <B>forceNextIteration </B>at 44th second of task execution
    475. 

  475. will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
    476. 

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

  477. </P>
    478. 

  478. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    479. 

  479. enableDelayed();</B></P>
    480. 

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

  481. </P>
    482. 

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

  483. the task, and schedules it for execution after a delay (aInterval). 
    484. 

  484. </P>
    485. 

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

  486. </P>
    487. 

  487. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
    488. 

  488. (unsigned long aDelay);</B></P>
    489. 

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

  490. </P>
    491. 

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

  492. the task, and schedules it for execution after a specific delay
    493. 

  493. (aDelay, which maybe different from aInterval). 
    494. 

  494. </P>
    495. 

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

  496. </P>
    497. 

  497. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restart();</B></P>
    498. 

  498. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    499. 

  499. </P>
    500. 

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

  501. tasks with limited number of iterations only, <B>restart</B> function
    502. 

  502. will re-enable the task, set the number of iterations back to when
    503. 

  503. the task was created and and schedule the task for execution as soon
    504. 

  504. as possible.</P>
    505. 

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

  506. </P>
    507. 

  507. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restartDelayed
    508. 

  508. (unsigned long aDelay);</B></P>
    509. 

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

  510. </P>
    511. 

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

  512. as <B>restart() </B>function, with the only difference being that
    513. 

  513. Task is scheduled to run first iteration after a delay = <B>aDelay</B>
    514. 

  514. milliseconds.</P>
    515. 

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

  516. </P>
    517. 

  517. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
    518. 

  518. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    519. 

  519. </P>
    520. 

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

  521. the task. Scheduler will not execute this task any longer, even if it
    522. 

  522. remains in the chain.  Task can be later re-enabled for execution. 
    523. 

  523. </P>
    524. 

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

  525. previous enabled state: <B>true</B> if task was enabled prior to
    526. 

  526. calling disable, and <B>false</B> otherwise.</P>
    527. 

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

  528. not NULL, task’s <B>OnDisable</B> method is invoked. <B>OnDisable</B>
    529. 

  529. is invoked only if task was enabled.  Calling <B>disable</B> 3 times
    530. 

  530. for instance will invoke <B>OnDisable</B> only once.</P>
    531. 

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

  532. </P>
    533. 

  533. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void set(unsigned
    534. 

  534. long aInterval, long aIterations, void (*aCallback)() , bool
    535. 

  535. (*aOnEnable)() , void (*aOnDisable)());</B></P>
    536. 

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

  537. </P>
    538. 

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

  539. dynamic control of task execution parameters in one function call. 
    540. 

  540. </P>
    541. 

  541. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B><B>:
    542. 

  542. </B>OnEnable and OnDisable parameters can be omitted. In that case
    543. 

  543. they will be assigned to NULL and not called. 
    544. 

  544. </P>
    545. 

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

  546. </P>
    547. 

  547. <P CLASS="western" STYLE="margin-bottom: 0in">Next five “setter”
    548. 

  548. functions allow changes of individual task execution control
    549. 

  549. parameters. 
    550. 

  550. </P>
    551. 

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

  552. setInterval (unsigned long aInterval) </B>
    553. 

  553. </P>
    554. 

  554. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    555. 

  555. setIterations (long aIterations) </B>
    556. 

  556. </P>
    557. 

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

  558. setCallback (void (*aCallback)()) </B>
    559. 

  559. </P>
    560. 

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

  561. setOnEnable (bool (*aCallback)()) </B>
    562. 

  562. </P>
    563. 

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

  564. setOnDisable (void (*aCallback)()) </B>
    565. 

  565. </P>
    566. 

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

  567. </P>
    568. 

  568. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Next
    569. 

  569. execution time calculation takes place <B>after</B> the callback
    570. 

  570. function is called, so new interval will be used immediately by the
    571. 

  571. scheduler. For the situations when one task is changing the interval
    572. 

  572. parameter for the other, <B>setInterval</B> function calls <B>delay
    573. 

  573. </B>explicitly to guarantee schedule change, however it <B>does not
    574. 

  574. </B>enable the task if task is disabled.</P>
    575. 

  575. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Tasks that
    576. 

  576. ran through all their allocated iterations are disabled.
    577. 

  577. <B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
    578. 

  578. <B>enable</B> explicitly, or use <B>restart</B> methods. 
    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"><B>STATUS REQUEST
    583. 

  583. METHODS:</B></P>
    584. 

  584. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    585. 

  585. <BR>
    586. 

  586. </P>
    587. 

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

  588. <B>void waitFor(StatusRequest* aStatusRequest);</B></P>
    589. 

  589. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    590. 

  590. <BR>
    591. 

  591. </P>
    592. 

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

  593. compiled with support for Status Requests, this method makes task
    594. 

  594. wait for the completion of <B>aStatusRequest</B> event. 
    595. 

  595. </P>
    596. 

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

  597. </B>sets tasks interval to <B>0 (zero)</B> for immediate execution
    598. 

  598. when event happens, and also sets the number of <B>iterations to 1</B>.</P>
    599. 

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

  600. aStatusRequest</B> should be “activated” by calling <B>setWaiting()
    601. 

  601. </B>method before making a task wait on it. Otherwise, the task will
    602. 

  602. execute immediately. 
    603. 

  603. </P>
    604. 

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

  605. </P>
    606. 

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

  607. </P>
    608. 

  608. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
    609. 

  609. getStatusRequest()</B></P>
    610. 

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

  611. a StatusReqeust object this Task was waiting on. 
    612. 

  612. </P>
    613. 

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

  614. </P>
    615. 

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

  616. </P>
    617. 

  617. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK ID, CONTROL
    618. 

  618. POINTS METHODS:</B></P>
    619. 

  619. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    620. 

  620. <BR>
    621. 

  621. </P>
    622. 

  622. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    623. 

  623. <B>void setId(unsigned int aID);</B></P>
    624. 

  624. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    625. 

  625. <BR>
    626. 

  626. </P>
    627. 

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

  628. compiled with support for Task IDs, this method will set the task ID
    629. 

  629. explicitly. 
    630. 

  630. </P>
    631. 

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

  632. this method is not necessary as task IDs are assigned automatically
    633. 

  633. during task creation: 1, 2, 3, …</P>
    634. 

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

  635. </P>
    636. 

  636. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    637. 

  637. <B>unsigned int getId();</B></P>
    638. 

  638. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    639. 

  639. <BR>
    640. 

  640. </P>
    641. 

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

  642. compiled with support for Task IDs, this method return current task’s
    643. 

  643. ID.</P>
    644. 

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

  645. </P>
    646. 

  646. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    647. 

  647. <B>void setControlPoint (unsigned int aPoint);</B></P>
    648. 

  648. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    649. 

  649. <BR>
    650. 

  650. </P>
    651. 

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

  652. compiled with support for Task IDs, this method will set a control
    653. 

  653. point in the task’s code. Control points are similar to “try…catch”
    654. 

  654. blocks, with control point ID specifying where in the code the “try”
    655. 

  655. part started, and a mechanism like watchdog timer providing the
    656. 

  656. “catch” functionality.</P>
    657. 

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

  658. </P>
    659. 

  659. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    660. 

  660. <B>unsigned int getControlPoint()</B></P>
    661. 

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

  662. <BR>
    663. 

  663. </P>
    664. 

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

  665. If compiled with support for Task IDs, this method will return
    666. 

  666. currently set control point for this task.</P>
    667. 

  667. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    668. 

  668. <BR>
    669. 

  669. </P>
    670. 

  670. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    671. 

  671. <BR>
    672. 

  672. </P>
    673. 

  673. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    674. 

  674. <BR>
    675. 

  675. </P>
    676. 

  676. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    677. 

  677. <FONT SIZE=4><B>TASK SCHEDULER:</B></FONT></P>
    678. 

  678. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    679. 

  679. <BR>
    680. 

  680. </P>
    681. 

  681. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    682. 

  682. <B>CREATION:</B></P>
    683. 

  683. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    684. 

  684. <BR>
    685. 

  685. </P>
    686. 

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

  687. </P>
    688. 

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

  689. constructor. 
    690. 

  690. </P>
    691. 

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

  692. no parameters. Creates task scheduler with default parameters and an
    693. 

  693. empty task queue. 
    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-bottom: 0in"><B>void init()</B></P>
    698. 

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

  699. </P>
    700. 

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

  701. the task queue and scheduler parameters, Executed as part of
    702. 

  702. constructor, so don't need to be explicitly called after creation.</P>
    703. 

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

  704. </B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    705. 

  705. enabled) scheduler is allowed to put processor to IDLE sleep mode. If
    706. 

  706. this behavior was changed via <B>allowSleep() </B>function, <B>inti()
    707. 

  707. </B>will <B>NOT</B> reset allow sleep particular parameter. 
    708. 

  708. </P>
    709. 

  709. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    710. 

  710. addTask(Task&amp; aTask)</B></P>
    711. 

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

  712. </P>
    713. 

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

  714. task aTask to the execution queue (or chain) of tasks by appending it
    715. 

  715. to the end of the chain. If two tasks are scheduled for execution,
    716. 

  716. the sequence will match the order in which tasks were appended to the
    717. 

  717. chain. However, in reality, due to different timing of task
    718. 

  718. execution, the actual order may be different. 
    719. 

  719. </P>
    720. 

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

  721. </B>Currently, changing the execution sequence in a chain dynamically
    722. 

  722. is not supported. 
    723. 

  723. </P>
    724. 

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

  725. you need to reorder the chain sequence – initialize the scheduler
    726. 

  726. and re-add the tasks in a different order. 
    727. 

  727. </P>
    728. 

  728. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    729. 

  729. deleteTask(Task&amp; aTask)</B></P>
    730. 

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

  731. </P>
    732. 

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

  733. task aTask from the execution chain. The chain of remaining tasks is
    734. 

  734. linked together (i.e</P>
    735. 

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

  736. original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
    737. 

  737. 1 → 2 → 4).</P>
    738. 

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

  739. </B>it is not required to delete a task from the chain. A disabled
    740. 

  740. task will not be executed anyway, but you save a few microseconds per
    741. 

  741. scheduling pass by deleting it, since it is not even considered for
    742. 

  742. execution. 
    743. 

  743. </P>
    744. 

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

  745. example of proper use of this function would be running some sort of
    746. 

  746. <B>initialize</B> task in the chain, and then deleting it from the
    747. 

  747. chain since it only needs to run once. 
    748. 

  748. </P>
    749. 

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

  750. </P>
    751. 

  751. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
    752. 

  752. aState) </B>
    753. 

  753. </P>
    754. 

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

  755. </P>
    756. 

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

  757. in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    758. 

  758. enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
    759. 

  759. or not (<B>aState =false</B>) to put processor into IDLE sleep mode
    760. 

  760. in case not tasks are scheduled to run.</P>
    761. 

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

  762. <B>default</B> behavior of scheduler upon creation is to allow sleep
    763. 

  763. mode. 
    764. 

  764. </P>
    765. 

  765. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void enableAll()</B></P>
    766. 

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

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

  768. </P>
    769. 

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

  770. and disables (respectively) all tasks in the chain. Convenient if
    771. 

  771. your need to enable/disable majority of the tasks (i.e. disable all
    772. 

  772. and then enable one). 
    773. 

  773. </P>
    774. 

  774. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>Task&amp;
    775. 

  775. currentTask()<BR></B><BR>
    776. 

  776. </P>
    777. 

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

  778. reference to the task, currently executing via <B>execute()</B> loop.
    779. 

  779. Could be used by callback functions to identify which of the Tasks
    780. 

  780. invoked callback function.</P>
    781. 

  781. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void execute()</B></P>
    782. 

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

  783. </P>
    784. 

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

  785. one scheduling pass, including end-of-pass sleep. This function
    786. 

  786. typically placed inside the <B>loop()</B> function of the sketch.
    787. 

  787. Since <B>execute</B> exits after every pass, you can put additional
    788. 

  788. statements after <B>execute</B> inside the <B>loop()</B> 
    789. 

  789. </P>
    790. 

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

  791. </P>
    792. 

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

  793. </P>
    794. 

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

  795. </P>
    796. 

  796. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    797. 

  797. <B>STATUS REQUEST:</B></P>
    798. 

  798. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    799. 

  799. <BR>
    800. 

  800. </P>
    801. 

  801. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    802. 

  802. <B>CREATION:</B></P>
    803. 

  803. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    804. 

  804. <BR>
    805. 

  805. </P>
    806. 

  806. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
    807. 

  807. </P>
    808. 

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

  809. constructor. 
    810. 

  810. </P>
    811. 

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

  812. no parameters. Creates Status Request object, which is assigned a
    813. 

  813. status of “completed” on creation. 
    814. 

  814. </P>
    815. 

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

  816. </P>
    817. 

  817. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    818. 

  818. setWaiting(unsigned int aCount)</B></P>
    819. 

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

  820. Status Request object. By default each object is set to wait on one
    821. 

  821. event only, however, if <B>aCount</B> is supplied, Status Request can
    822. 

  822. wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
    823. 

  823. on three signals. An example could be waiting for completion of
    824. 

  824. measurements from 3 sensors. 
    825. 

  825. </P>
    826. 

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

  827. </P>
    828. 

  828. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signal(int
    829. 

  829. aStatus)</B></P>
    830. 

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

  831. completion of the event to the Status Request object, and passes a
    832. 

  832. completion code, which could be interrogated later. 
    833. 

  833. </P>
    834. 

  834. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    835. 

  835. </B> passing a <B>negative</B> status code to the status request
    836. 

  836. object is considered reporting an error condition, and will complete
    837. 

  837. the status request regardless of how many outstanding signals it is
    838. 

  838. still waiting for. 
    839. 

  839. </P>
    840. 

  840. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B>:
    841. 

  841. only the latest status code is kept.</P>
    842. 

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

  843. </P>
    844. 

  844. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
    845. 

  845. (int aStatus)</B></P>
    846. 

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

  847. completion of <B>ALL</B> events to the Status Request object, and
    848. 

  848. passes a completion code, which could be interrogated later. The
    849. 

  849. status request completes regardless of how many events it is still
    850. 

  850. waiting on. 
    851. 

  851. </P>
    852. 

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

  853. </P>
    854. 

  854. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
    855. 

  855. </P>
    856. 

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

  857. <B>true</B> if status request is still waiting for event or events to
    858. 

  858. happen.</P>
    859. 

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

  860. </P>
    861. 

  861. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
    862. 

  862. </P>
    863. 

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

  864. <B>true</B> if status has completed.</P>
    865. 

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

  866. </P>
    867. 

  867. <P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
    868. 

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

  869. the status code passed to the status request object by the <B>signal()
    870. 

  870. </B>and <B>signalComplete() </B>methods. 
    871. 

  871. </P>
    872. 

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

  873. <B>positive</B> number is considered a successful completion status.</P>
    874. 

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

  875. 0 (zero) is considered a default successful completion status.</P>
    876. 

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

  877. <B>negative</B> number is considered an error code and unsuccessful
    878. 

  878. completion of a request.</P>
    879. 

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

  880. </P>
    881. 

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

  882. </P>
    883. 

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

  884. </P>
    885. 

  885. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    886. 

  886. <B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
    887. 

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

  888. </P>
    889. 

  889. <OL>
    890. 

  890. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><B>EVENT DRIVEN
    891. 

  891. 	PROGRAMMING</B></P>
    892. 

  892. </OL>
    893. 

  893. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    894. 

  894. </P>
    895. 

  895. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
    896. 

  896. of your application becomes a separate and distinct programming area,
    897. 

  897. which may or may not interact and control each other. 
    898. 

  898. </P>
    899. 

  899. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    900. 

  900. </P>
    901. 

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

  902. </P>
    903. 

  903. <P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
    904. 

  904. system you need to measure soil humidity, control pump and display
    905. 

  905. the results</P>
    906. 

  906. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
    907. 

  907. becomes a task:</P>
    908. 

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

  909. </P>
    910. 

  910. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    911. 

  911. <B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, -1,
    912. 

  912. &amp;measureCallback);<BR>Task <B>tWater</B>  
    913. 

  913. (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
    914. 

  914. <B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, -1, &amp;displayCallback);
    915. 

  915. <BR></FONT></FONT><BR>
    916. 

  916. </P>
    917. 

  917. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    918. 

  918. </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>
    919. 

  919. </P>
    920. 

  920. <P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
    921. 

  921. on the pump, you keep it running for TWATER_INTERVAL interval and
    922. 

  922. then turn it off. Turning off a pump is also a task which only needs
    923. 

  923. to run once for every time the pump is turned on:</P>
    924. 

  924. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    925. 

  925. </P>
    926. 

  926. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    927. 

  927. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
    928. 

  928. (WATERTIME*SECOND, 1,</FONT></FONT><FONT FACE="Courier New, monospace">
    929. 

  929. &amp;waterOffCallback);</FONT><BR><BR>
    930. 

  930. </P>
    931. 

  931. <P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
    932. 

  932. function:</P>
    933. 

  933. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    934. 

  934. </P>
    935. 

  935. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    936. 

  936. waterOffCallback() {<BR>    motorOff();<BR>   
    937. 

  937. tWater.enableDelayed();<BR>}</FONT></FONT></P>
    938. 

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

  939. </P>
    940. 

  940. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
    941. 

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

  942. </P>
    943. 

  943. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    944. 

  944. waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
    945. 

  945. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    946. 

  946. If this is not the last iteration = turn the pump on<BR>     
    947. 

  947. motorOn();<BR>      tWaterOff.set(parameters.watertime * SECOND, 1,
    948. 

  948. &amp;waterOffCallback);<BR>      tWaterOff.enableDelayed();<BR>     
    949. 

  949. return;<BR>    }</FONT></FONT></P>
    950. 

  950. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    951. 

  951. We could not reach target humidity – something is wrong<BR>   
    952. 

  952. motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
    953. 

  953. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    954. 

  954. </P>
    955. 

  955. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
    956. 

  956. sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
    957. 

  957. </P>
    958. 

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

  959. </B>please note that tWater is <B>not</B> activated during setup().
    960. 

  960. It is activated by tMeasure callback once the watering conditions are
    961. 

  961. met. </FONT>
    962. 

  962. </P>
    963. 

  963. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    964. 

  964. </P>
    965. 

  965. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">	</FONT><FONT FACE="Courier New, monospace">setup()</FONT></P>
    966. 

  966. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace">	
    967. 

  967.  ...</FONT></P>
    968. 

  968. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    969. 

  969. <FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
    970. 

  970.  tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
    971. 

  971. taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
    972. 

  972. taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
    973. 

  973. taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
    974. 

  974. tDisplay.enable();<BR><BR>  currentHumidity =
    975. 

  975. measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
    976. 

  976. taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
    977. 

  977. </P>
    978. 

  978. <OL START=2>
    979. 

  979. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">“<FONT FACE="Times New Roman, serif"><B>NATIVE”
    980. 

  980. 	SUPPORT FOR FINITE STATE MACHINE</B></FONT></P>
    981. 

  981. </OL>
    982. 

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

  983. </P>
    984. 

  984. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
    985. 

  985. “states” as callback function or functions. Each callback
    986. 

  986. function executes activities specific to a “state” and then
    987. 

  987. “transitions” to the next state by assigning next callback
    988. 

  988. function to the task. </FONT>
    989. 

  989. </P>
    990. 

  990. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
    991. 

  991. from one state to the next is achieved by setting next callback
    992. 

  992. function at the end of preceding one. </FONT>
    993. 

  993. </P>
    994. 

  994. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    995. 

  995. </B>do not call the next callback function. Let the schedule take
    996. 

  996. care of that during the next pass. (Thus letting other tasks run). </FONT>
    997. 

  997. </P>
    998. 

  998. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    999. 

  999. </P>
    1000. 

  1000. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1001. 

  1001. Blinking LED 2 times a second could be achieved this way</FONT></P>
    1002. 

  1002. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1003. 

  1003. </P>
    1004. 

  1004. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">Task
    1005. 

  1005. tLedBlinker (500, -1, &amp;ledOnCallback);</FONT></P>
    1006. 

  1006. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">Scheduler
    1007. 

  1007. taskManager;</FONT></P>
    1008. 

  1008. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1009. 

  1009. </P>
    1010. 

  1010. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">void
    1011. 

  1011.  ledOnCallback() {</FONT></P>
    1012. 

  1012. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	turnLedOn();</FONT></P>
    1013. 

  1013. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.setCallback(&amp;ledOffCallback);</FONT></P>
    1014. 

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

  1015. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1016. 

  1016. </P>
    1017. 

  1017. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">void
    1018. 

  1018.  ledOffCallback() {</FONT></P>
    1019. 

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

  1020. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.setCallback(&amp;ledOnCallback);</FONT></P>
    1021. 

  1021. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT></P>
    1022. 

  1022. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1023. 

  1023. </P>
    1024. 

  1024. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">setup()
    1025. 

  1025. {</FONT></P>
    1026. 

  1026. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	taskManager.init();<BR>
    1027. 

  1027.  	taskManager.addTask(tLedBlinker);</FONT></P>
    1028. 

  1028. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	</FONT></P>
    1029. 

  1029. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	tLedBlinker.enable();</FONT></P>
    1030. 

  1030. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">}</FONT></P>
    1031. 

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

  1032. </P>
    1033. 

  1033. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">loop
    1034. 

  1034. () {</FONT></P>
    1035. 

  1035. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace">	taskManager.execute();</FONT></P>
    1036. 

  1036. <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>
    1037. 

  1037. </P>
    1038. 

  1038. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
    1039. 

  1039. the example is simple, but gives the idea of how the tasks could be
    1040. 

  1040. used to go through states.</FONT></P>
    1041. 

  1041. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1042. 

  1042. </P>
    1043. 

  1043. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1044. 

  1044. </P>
    1045. 

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

  1046. </P>
    1047. 

  1047. <OL START=3>
    1048. 

  1048. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>MULTIPLE
    1049. 

  1049. 	POSSIBLE CALLBACKS FOR TASK</B></FONT></P>
    1050. 

  1050. </OL>
    1051. 

  1051. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1052. 

  1052. </P>
    1053. 

  1053. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
    1054. 

  1054. may be a need to select an option for callback function based on
    1055. 

  1055. certain criteria, or randomly. </FONT>
    1056. 

  1056. </P>
    1057. 

  1057. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1058. 

  1058. can achieve that by defining an array of callback function pointers
    1059. 

  1059. and selecting one based on the criteria you need. </FONT>
    1060. 

  1060. </P>
    1061. 

  1061. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1062. 

  1062. when a robot detects an obstacle, it may go left, right backwards,
    1063. 

  1063. etc. Each of the “directions” or “behaviors” are represented
    1064. 

  1064. by a different callback function. </FONT>
    1065. 

  1065. </P>
    1066. 

  1066. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1067. 

  1067. </P>
    1068. 

  1068. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
    1069. 

  1069. example of using multiple callbacks:</FONT></P>
    1070. 

  1070. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1071. 

  1071. may need to “initialize” variables for a particular task.</FONT></P>
    1072. 

  1072. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1073. 

  1073. this case, define a tasks with two callbacks:</FONT></P>
    1074. 

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

  1075. </P>
    1076. 

  1076. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1077. 

  1077. <B>tWork</B> (T_INTERVAL, -1, &amp;workCallbackInit);</FONT></FONT></P>
    1078. 

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

  1079. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1080. 

  1080. </P>
    1081. 

  1081. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1082. 

  1082.  workCallbackInit() {</FONT></FONT></P>
    1083. 

  1083. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1084. 

  1084. do your initializationstuff here</FONT></FONT></P>
    1085. 

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

  1086. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1087. 

  1087. finally assigne the main callback function </FONT></FONT>
    1088. 

  1088. </P>
    1089. 

  1089. <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>
    1090. 

  1090. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1091. 

  1091. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1092. 

  1092. </P>
    1093. 

  1093. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1094. 

  1094. workCallback() {</FONT></FONT></P>
    1095. 

  1095. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1096. 

  1096. main callback function</FONT></FONT></P>
    1097. 

  1097. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</FONT></FONT></P>
    1098. 

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

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

  1100. </P>
    1101. 

  1101. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1102. 

  1102. task will initialize during first execution pass and switch to
    1103. 

  1103. “regular” callback execution starting with second pass. There is
    1104. 

  1104. a delay between first and second passes of the task (scheduling
    1105. 

  1105. period, if defined). In order to execute the second pass immediately
    1106. 

  1106. after initialization first pass, change the above code like this:</FONT></P>
    1107. 

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

  1108. </P>
    1109. 

  1109. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1110. 

  1110.  workCallbackInit() {</FONT></FONT></P>
    1111. 

  1111. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1112. 

  1112. do your initializationstuff here</FONT></FONT></P>
    1113. 

  1113. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    1114. 

  1114. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1115. 

  1115. finally assigne the main callback function </FONT></FONT>
    1116. 

  1116. </P>
    1117. 

  1117. <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>
    1118. 

  1118. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
    1119. 

  1119. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1120. 

  1120. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1121. 

  1121. </P>
    1122. 

  1122. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1123. 

  1123. task will run initialization first, then immediately second pass, and
    1124. 

  1124. then switch to processing at regular intervals starting with a third
    1125. 

  1125. pass. </FONT>
    1126. 

  1126. </P>
    1127. 

  1127. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1128. 

  1128. </P>
    1129. 

  1129. <OL START=3>
    1130. 

  1130. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN
    1131. 

  1131. 	EXECUTION SUPPORT </B></FONT>
    1132. 

  1132. 	</P>
    1133. 

  1133. </OL>
    1134. 

  1134. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1135. 

  1135. </P>
    1136. 

  1136. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1137. 

  1137. case of interrupt-driven program flow, tasks could be scheduled to
    1138. 

  1138. run once to request asynchronous execution (request), and then
    1139. 

  1139. re-enabled (restarted) again with a different callback function to
    1140. 

  1140. process the results. </FONT>
    1141. 

  1141. </P>
    1142. 

  1142. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1143. 

  1143. </P>
    1144. 

  1144. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Example</B>:
    1145. 

  1145. event driven distance calculation for ultrasonic pulses. EchoPin #6
    1146. 

  1146. triggers pin change interrupts on rising and falling edges to
    1147. 

  1147. determine the length of ultrasonic pulse.</FONT></P>
    1148. 

  1148. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1149. 

  1149. </P>
    1150. 

  1150. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1151. 

  1151. &lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
    1152. 

  1152. &lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
    1153. 

  1153. ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
    1154. 

  1154. pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
    1155. 

  1155. r;<BR><BR>Task  tMeasure(1000, -1, &amp;measureCallback, &amp;r,
    1156. 

  1156. true);<BR>Task  tDisplay(1000, -1, &amp;displayCallback, &amp;r,
    1157. 

  1157. true);<BR>Task  tPing(0, 1, &amp;pingCalcCallback, &amp;r,
    1158. 

  1158. false);<BR><BR><BR>volatile bool pulseBusy = false;<BR>volatile bool
    1159. 

  1159. pulseTimeout = false;<BR>volatile unsigned long pulseStart =
    1160. 

  1160. 0;<BR>volatile unsigned long pulseStop = 0;<BR>volatile unsigned long
    1161. 

  1161. pingDistance = 0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout)
    1162. 

  1162. {<BR>  if (pulseBusy) return;  // do not trigger if in the middle of
    1163. 

  1163. a pulse<BR>  if (pEcho == HIGH) return; // do not trigger if ECHO pin
    1164. 

  1164. is high<BR>  <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
    1165. 

  1165. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
    1166. 

  1166.  pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
    1167. 

  1167.  tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
    1168. 

  1168. pTrigger = LOW; <BR></FONT></FONT><BR>
    1169. 

  1169. </P>
    1170. 

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

  1171. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
    1172. 

  1172. // timeout countdown starts now<BR></FONT></FONT><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>//
    1175. 

  1175. will start the pulse clock on the rising edge of ECHO pin</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>PCintPort::attachInterrupt(ECHOPIN,
    1178. 

  1178. &amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
    1179. 

  1179. </P>
    1180. 

  1180. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1181. 

  1181. Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
    1182. 

  1182. pingStartClock() {<BR>  pulseStart = micros();<BR> 
    1183. 

  1183. PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
    1184. 

  1184.  PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
    1185. 

  1185.  tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
    1186. 

  1186. edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
    1187. 

  1187. = micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
    1188. 

  1188. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1189. 

  1189. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
    1190. 

  1190. pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
    1191. 

  1191. // disable timeout<BR>}<BR></FONT></FONT><BR>
    1192. 

  1192. </P>
    1193. 

  1193. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1194. 

  1194. Stop clock because of the timeout – the wave did not return<BR>void
    1195. 

  1195. pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
    1196. 

  1196.  }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
    1197. 

  1197. callback sets the trigger<BR>void measureCallback() {<BR>  if
    1198. 

  1198. (pulseBusy) {  // already measuring, try again<BR>   
    1199. 

  1199. tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
    1200. 

  1200. milliseconds or max range of ~5.1 meters<BR> 
    1201. 

  1201. tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
    1202. 

  1202. </P>
    1203. 

  1203. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1204. 

  1204. Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
    1205. 

  1205. (pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
    1206. 

  1206. <BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
    1207. 

  1207.  char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
    1208. 

  1208. // cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
    1209. 

  1209. %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
    1210. 

  1210. cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
    1211. 

  1211. put your setup code here, to run once:<BR>  <BR> 
    1212. 

  1212. Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
    1213. 

  1213. LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
    1214. 

  1214. to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
    1215. 

  1215. </P>
    1216. 

  1216. <OL START=3>
    1217. 

  1217. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1218. 

  1218. 	ONENABLE AND ONDISBALE METHODS </B></FONT>
    1219. 

  1219. 	</P>
    1220. 

  1220. </OL>
    1221. 

  1221. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1222. 

  1222. </P>
    1223. 

  1223. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
    1224. 

  1224. a task to flash onboard LED for 5 seconds with random frequency. Task
    1225. 

  1225. should be repeated every 30 seconds indefinitely. Since frequency is
    1226. 

  1226. random, there are two challenges:</FONT></P>
    1227. 

  1227. <OL START=3>
    1228. 

  1228. 	<OL>
    1229. 

  1229. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1230. 

  1230. 		need to make sure LED is turned OFF at the last iteration</FONT></P>
    1231. 

  1231. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1232. 

  1232. 		need to calculate random frequency every time</FONT></P>
    1233. 

  1233. 	</OL>
    1234. 

  1234. </OL>
    1235. 

  1235. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1236. 

  1236. </P>
    1237. 

  1237. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Below
    1238. 

  1238. is the implementation using TaskScheduler </FONT>
    1239. 

  1239. </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><BR></FONT></FONT><BR>
    1243. 

  1243. </P>
    1244. 

  1244. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1245. 

  1245. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1246. 

  1246. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1247. 

  1247. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1248. 

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

  1249. </P>
    1250. 

  1250. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1251. 

  1251.  LEDPIN    13</FONT></FONT></P>
    1252. 

  1252. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1253. 

  1253. </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>Scheduler
    1257. 

  1257. ts;</FONT></FONT></P>
    1258. 

  1258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1259. 

  1259. </P>
    1260. 

  1260. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1261. 

  1261. tWrapper(30000, -1, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
    1262. 

  1262. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1263. 

  1263. tBlink(5000, 1, NULL, &amp;ts, false, &amp;BlinkOnEnable,
    1264. 

  1264. &amp;BlinkOnDisable);</FONT></FONT></P>
    1265. 

  1265. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1266. 

  1266. tLED(0, -1, NULL, &amp;ts, false, NULL, &amp;LEDOff);</FONT></FONT></P>
    1267. 

  1267. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1268. 

  1268. </P>
    1269. 

  1269. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1270. 

  1270. WrapperCallback() {</FONT></FONT></P>
    1271. 

  1271. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1272. 

  1272. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1273. 

  1273. WrapperCallback&quot;);</FONT></FONT></P>
    1274. 

  1274. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1275. 

  1275. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
    1276. 

  1276.   // LED blinking  is initiated </FONT></FONT>
    1277. 

  1277. </P>
    1278. 

  1278. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1279. 

  1279.             <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
    1280. 

  1280. 30 seconds for 5 seconds</FONT></FONT></P>
    1281. 

  1281. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1282. 

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

  1283. </P>
    1284. 

  1284. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1285. 

  1285. </P>
    1286. 

  1286. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1287. 

  1287. Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
    1288. 

  1288. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1289. 

  1289. and enable LED blinking task, which actually controls</FONT></FONT></P>
    1290. 

  1290. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1291. 

  1291. the hardware (LED in this example)</FONT></FONT></P>
    1292. 

  1292. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1293. 

  1293. BlinkOnEnable() {</FONT></FONT></P>
    1294. 

  1294. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1295. 

  1295. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1296. 

  1296. BlinkOnEnable&quot;);</FONT></FONT></P>
    1297. 

  1297. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1298. 

  1298. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
    1299. 

  1299. 500 + random(501) );</FONT></FONT></P>
    1300. 

  1300. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1301. 

  1301. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1302. 

  1302. &amp;LEDOn);</FONT></FONT></P>
    1303. 

  1303. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1304. 

  1304. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.enable();</FONT></FONT></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"> 
    1308. 

  1308. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
    1309. 

  1309. Task should be enabled</FONT></FONT></P>
    1310. 

  1310. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1311. 

  1311. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1312. 

  1312. </P>
    1313. 

  1313. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1314. 

  1314. tBlink does not really need a callback function</FONT></FONT></P>
    1315. 

  1315. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1316. 

  1316. since it just waits for 5 seconds for the first </FONT></FONT>
    1317. 

  1317. </P>
    1318. 

  1318. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1319. 

  1319. and only iteration to occur. Once the iteration</FONT></FONT></P>
    1320. 

  1320. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1321. 

  1321. takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
    1322. 

  1322. </P>
    1323. 

  1323. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1324. 

  1324. thus executing its OnDisable method below.</FONT></FONT></P>
    1325. 

  1325. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1326. 

  1326. </P>
    1327. 

  1327. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1328. 

  1328. BlinkOnDisable() {</FONT></FONT></P>
    1329. 

  1329. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1330. 

  1330. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1331. 

  1331. BlinkOnDisable&quot;);</FONT></FONT></P>
    1332. 

  1332. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1333. 

  1333. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
    1334. 

  1334. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1335. 

  1335. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1336. 

  1336. </P>
    1337. 

  1337. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1338. 

  1338. LEDOn () {</FONT></FONT></P>
    1339. 

  1339. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1340. 

  1340. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1341. 

  1341. LEDOn&quot;);</FONT></FONT></P>
    1342. 

  1342. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1343. 

  1343. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1344. 

  1344. HIGH);</FONT></FONT></P>
    1345. 

  1345. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1346. 

  1346. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1347. 

  1347. &amp;LEDOff);</FONT></FONT></P>
    1348. 

  1348. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1349. 

  1349. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1350. 

  1350. </P>
    1351. 

  1351. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1352. 

  1352. LEDOff () {</FONT></FONT></P>
    1353. 

  1353. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1354. 

  1354. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1355. 

  1355. LEDOff&quot;);</FONT></FONT></P>
    1356. 

  1356. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1357. 

  1357. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1358. 

  1358. LOW);</FONT></FONT></P>
    1359. 

  1359. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1360. 

  1360. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1361. 

  1361. &amp;LEDOn);</FONT></FONT></P>
    1362. 

  1362. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1363. 

  1363. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1364. 

  1364. </P>
    1365. 

  1365. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1366. 

  1366. Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
    1367. 

  1367. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1368. 

  1368. to make sure the LED is turned off when the tBlink</FONT></FONT></P>
    1369. 

  1369. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1370. 

  1370. task finishes (or disabled ahead of time)</FONT></FONT></P>
    1371. 

  1371. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1372. 

  1372. </P>
    1373. 

  1373. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1374. 

  1374. setup() {</FONT></FONT></P>
    1375. 

  1375. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1376. 

  1376. </P>
    1377. 

  1377. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1378. 

  1378. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
    1379. 

  1379. </FONT></FONT>
    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>pinMode(LEDPIN,
    1383. 

  1383. OUTPUT); </FONT></FONT>
    1384. 

  1384. </P>
    1385. 

  1385. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1389. 

  1389. loop() {</FONT></FONT></P>
    1390. 

  1390. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1391. 

  1391. <FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
    1392. 

  1392. code here, to run repeatedly:</FONT></FONT></P>
    1393. 

  1393. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1394. 

  1394. </P>
    1395. 

  1395. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1396. 

  1396. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    1397. 

  1397. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1398. 

  1398. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1399. 

  1399. </P>
    1400. 

  1400. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1401. 

  1401. </P>
    1402. 

  1402. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1403. 

  1403. </P>
    1404. 

  1404. <OL START=3>
    1405. 

  1405. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1406. 

  1406. 	STATUS REQUEST OBJECTS  </B></FONT>
    1407. 

  1407. 	</P>
    1408. 

  1408. </OL>
    1409. 

  1409. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1410. 

  1410. </P>
    1411. 

  1411. <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
    1412. 

  1412. test emulates querying 3 sensors once every 10 seconds, each could
    1413. 

  1413. respond with a different delay (ultrasonic sensors for instance) and
    1414. 

  1414. printing a min value of the three when all three have reported their
    1415. 

  1415. values.</FONT></FONT></P>
    1416. 

  1416. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1417. 

  1417. </P>
    1418. 

  1418. <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
    1419. 

  1419. overall timeout of 1 second is setup as well.</FONT></FONT></P>
    1420. 

  1420. <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
    1421. 

  1421. error message needs to be printed if a timeout occurred instead of a
    1422. 

  1422. value.</FONT></FONT></P>
    1423. 

  1423. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1424. 

  1424. </P>
    1425. 

  1425. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1426. 

  1426. </P>
    1427. 

  1427. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1428. 

  1428. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1429. 

  1429. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1430. 

  1430. _TASK_STATUS_REQUEST</FONT></FONT></P>
    1431. 

  1431. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1432. 

  1432. </P>
    1433. 

  1433. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1434. 

  1434. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1435. 

  1435. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1436. 

  1436. </P>
    1437. 

  1437. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
    1438. 

  1438. measure;</FONT></FONT></P>
    1439. 

  1439. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1440. 

  1440. </P>
    1441. 

  1441. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1442. 

  1442. ts; </FONT></FONT>
    1443. 

  1443. </P>
    1444. 

  1444. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1445. 

  1445. </P>
    1446. 

  1446. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1447. 

  1447. tCycle(10000, -1, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
    1448. 

  1448. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1449. 

  1449. tMeasure(1000, 1, &amp;MeasureCallback, &amp;ts, false,
    1450. 

  1450. &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
    1451. 

  1451. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1452. 

  1452. tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
    1453. 

  1453. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1454. 

  1454. tSensor1(0, 1, &amp;S1Callback, &amp;ts, false, &amp;S1Enable);</FONT></FONT></P>
    1455. 

  1455. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1456. 

  1456. tSensor2(0, 1, &amp;S2Callback, &amp;ts, false, &amp;S2Enable);</FONT></FONT></P>
    1457. 

  1457. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1458. 

  1458. tSensor3(0, 1, &amp;S3Callback, &amp;ts, false, &amp;S3Enable);</FONT></FONT></P>
    1459. 

  1459. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1460. 

  1460. </P>
    1461. 

  1461. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1462. 

  1462. </P>
    1463. 

  1463. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
    1464. 

  1464. distance, d1, d2, d3;</FONT></FONT></P>
    1465. 

  1465. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1466. 

  1466. </P>
    1467. 

  1467. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1468. 

  1468. CycleCallback() {</FONT></FONT></P>
    1469. 

  1469. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1470. 

  1470. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
    1471. 

  1471. Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></P>
    1472. 

  1472. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1473. 

  1473. </P>
    1474. 

  1474. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1475. 

  1475. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
    1476. 

  1476. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1477. 

  1477. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1478. 

  1478. </P>
    1479. 

  1479. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1480. 

  1480. </P>
    1481. 

  1481. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1482. 

  1482. </P>
    1483. 

  1483. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1484. 

  1484. MeasureEnable() {</FONT></FONT></P>
    1485. 

  1485. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1486. 

  1486. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureEnable:
    1487. 

  1487. Activating sensors&quot;);  </FONT></FONT>
    1488. 

  1488. </P>
    1489. 

  1489. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1490. 

  1490. </P>
    1491. 

  1491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1492. 

  1492. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</FONT></FONT></P>
    1493. 

  1493. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1494. 

  1494. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.setWaiting(3);
    1495. 

  1495. // Set the StatusRequest to wait for 3 signals. </FONT></FONT>
    1496. 

  1496. </P>
    1497. 

  1497. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1498. 

  1498. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
    1499. 

  1499. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1500. 

  1500. </P>
    1501. 

  1501. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1502. 

  1502. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
    1503. 

  1503. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1504. 

  1504. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
    1505. 

  1505. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1506. 

  1506. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</FONT></FONT></P>
    1507. 

  1507. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1508. 

  1508. </P>
    1509. 

  1509. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1510. 

  1510. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1511. 

  1511. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1512. 

  1512. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1513. 

  1513. </P>
    1514. 

  1514. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1515. 

  1515. MeasureCallback() {</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>Serial.println(&quot;MeasureCallback:
    1518. 

  1518. Invoked by calculate task or one second later&quot;);  </FONT></FONT>
    1519. 

  1519. </P>
    1520. 

  1520. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1521. 

  1521. </P>
    1522. 

  1522. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1523. 

  1523. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if
    1524. 

  1524. (measure.pending()) {</FONT></FONT></P>
    1525. 

  1525. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1526. 

  1526.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
    1527. 

  1527. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1528. 

  1528.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
    1529. 

  1529.  // signal error</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.println(&quot;MeasureCallback:
    1532. 

  1532. Timeout!&quot;);</FONT></FONT></P>
    1533. 

  1533. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1534. 

  1534. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1535. 

  1535. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1536. 

  1536. <FONT FACE="Courier New, monospace"><FONT SIZE=2>else {</FONT></FONT></P>
    1537. 

  1537. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1538. 

  1538.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
    1539. 

  1539. Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
    1540. 

  1540. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1541. 

  1541. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1542. 

  1542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1543. 

  1543. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1544. 

  1544. </P>
    1545. 

  1545. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1546. 

  1546. MeasureDisable() {</FONT></FONT></P>
    1547. 

  1547. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1548. 

  1548. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
    1549. 

  1549. Cleaning up&quot;);  </FONT></FONT>
    1550. 

  1550. </P>
    1551. 

  1551. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1552. 

  1552. </P>
    1553. 

  1553. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1554. 

  1554. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</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>tSensor2.disable();</FONT></FONT></P>
    1557. 

  1557. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1558. 

  1558. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
    1559. 

  1559. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1560. 

  1560. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1561. 

  1561. </P>
    1562. 

  1562. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1563. 

  1563. </P>
    1564. 

  1564. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1565. 

  1565. CalcCallback() {</FONT></FONT></P>
    1566. 

  1566. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1567. 

  1567. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
    1568. 

  1568. calculating&quot;);  </FONT></FONT>
    1569. 

  1569. </P>
    1570. 

  1570. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1571. 

  1571. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
    1572. 

  1572. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1573. 

  1573. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
    1574. 

  1574. measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
    1575. 

  1575. ended successfully</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>distance = d1 &lt;
    1578. 

  1578. d2 ? d1 : d2;</FONT></FONT></P>
    1579. 

  1579. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1580. 

  1580.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
    1581. 

  1581. distance ? d3 : distance;</FONT></FONT></P>
    1582. 

  1582. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1583. 

  1583.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</FONT></FONT></P>
    1584. 

  1584. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1585. 

  1585. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1586. 

  1586. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1587. 

  1587. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1588. 

  1588. </P>
    1589. 

  1589. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1590. 

  1590. </P>
    1591. 

  1591. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1592. 

  1592. Simulation code for sensor 1</FONT></FONT></P>
    1593. 

  1593. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1594. 

  1594.  ----------------------------</FONT></FONT></P>
    1595. 

  1595. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1596. 

  1596. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1597. 

  1597. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1598. 

  1598. S1Enable() {</FONT></FONT></P>
    1599. 

  1599. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1600. 

  1600. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
    1601. 

  1601. Triggering sensor1. Delay=&quot;);  </FONT></FONT>
    1602. 

  1602. </P>
    1603. 

  1603. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1604. 

  1604. </P>
    1605. 

  1605. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1606. 

  1606. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
    1607. 

  1607. random(1200) );  // Simulating sensor delay, which could go over 1
    1608. 

  1608. second and cause timeout</FONT></FONT></P>
    1609. 

  1609. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1610. 

  1610. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
    1611. 

  1611. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1612. 

  1612. </P>
    1613. 

  1613. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1614. 

  1614. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1615. 

  1615. tSensor1.getInterval() );</FONT></FONT></P>
    1616. 

  1616. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1617. 

  1617. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1618. 

  1618. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1619. 

  1619. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1620. 

  1620. </P>
    1621. 

  1621. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1622. 

  1622. S1Callback() {</FONT></FONT></P>
    1623. 

  1623. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1624. 

  1624. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
    1625. 

  1625. Emulating measurement. d1=&quot;);  </FONT></FONT>
    1626. 

  1626. </P>
    1627. 

  1627. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1628. 

  1628. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
    1629. 

  1629. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1630. 

  1630. measurement </FONT></FONT>
    1631. 

  1631. </P>
    1632. 

  1632. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1633. 

  1633. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1634. 

  1634. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1635. 

  1635. </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.println(d1); </FONT></FONT>
    1638. 

  1638. </P>
    1639. 

  1639. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1640. 

  1640. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1641. 

  1641. </P>
    1642. 

  1642. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1643. 

  1643. </P>
    1644. 

  1644. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1645. 

  1645. Simulation code for sensor 2</FONT></FONT></P>
    1646. 

  1646. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1647. 

  1647.  ----------------------------</FONT></FONT></P>
    1648. 

  1648. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1649. 

  1649. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1650. 

  1650. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1651. 

  1651. S2Enable() {</FONT></FONT></P>
    1652. 

  1652. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1653. 

  1653. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
    1654. 

  1654. Triggering sensor2. Delay=&quot;);  </FONT></FONT>
    1655. 

  1655. </P>
    1656. 

  1656. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1657. 

  1657. </P>
    1658. 

  1658. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1659. 

  1659. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
    1660. 

  1660. random(1200) );  // Simulating sensor delay, which could go over 1
    1661. 

  1661. second and cause timeout</FONT></FONT></P>
    1662. 

  1662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1663. 

  1663. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</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.println(
    1668. 

  1668. tSensor2.getInterval() );</FONT></FONT></P>
    1669. 

  1669. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1670. 

  1670. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1671. 

  1671. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1672. 

  1672. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1673. 

  1673. </P>
    1674. 

  1674. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1675. 

  1675. S2Callback() {</FONT></FONT></P>
    1676. 

  1676. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1677. 

  1677. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
    1678. 

  1678. Emulating measurement. d2=&quot;);  </FONT></FONT>
    1679. 

  1679. </P>
    1680. 

  1680. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1681. 

  1681. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
    1682. 

  1682. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1683. 

  1683. measurement</FONT></FONT></P>
    1684. 

  1684. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1685. 

  1685. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1686. 

  1686. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1687. 

  1687. </P>
    1688. 

  1688. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1689. 

  1689. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d2); 
    1690. 

  1690. </FONT></FONT>
    1691. 

  1691. </P>
    1692. 

  1692. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1693. 

  1693. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1694. 

  1694. </P>
    1695. 

  1695. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1696. 

  1696. </P>
    1697. 

  1697. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1698. 

  1698. Simulation code for sensor 3</FONT></FONT></P>
    1699. 

  1699. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1700. 

  1700.  ----------------------------</FONT></FONT></P>
    1701. 

  1701. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1702. 

  1702. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1703. 

  1703. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1704. 

  1704. S3Enable() {</FONT></FONT></P>
    1705. 

  1705. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1706. 

  1706. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
    1707. 

  1707. Triggering sensor3. Delay=&quot;);  </FONT></FONT>
    1708. 

  1708. </P>
    1709. 

  1709. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1710. 

  1710. </P>
    1711. 

  1711. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1712. 

  1712. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
    1713. 

  1713. random(1200) );  // Simulating sensor delay, which could go over 1
    1714. 

  1714. second and cause timeout</FONT></FONT></P>
    1715. 

  1715. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1716. 

  1716. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></P>
    1717. 

  1717. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1718. 

  1718. </P>
    1719. 

  1719. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1720. 

  1720. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1721. 

  1721. tSensor3.getInterval() );</FONT></FONT></P>
    1722. 

  1722. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1723. 

  1723. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1724. 

  1724. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1725. 

  1725. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1726. 

  1726. </P>
    1727. 

  1727. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1728. 

  1728. S3Callback() {</FONT></FONT></P>
    1729. 

  1729. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1730. 

  1730. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
    1731. 

  1731. Emulating measurement. d3=&quot;);  </FONT></FONT>
    1732. 

  1732. </P>
    1733. 

  1733. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1734. 

  1734. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
    1735. 

  1735. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1736. 

  1736. measurement</FONT></FONT></P>
    1737. 

  1737. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1738. 

  1738. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1739. 

  1739. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1740. 

  1740. </P>
    1741. 

  1741. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1742. 

  1742. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d3); </FONT></FONT>
    1743. 

  1743. </P>
    1744. 

  1744. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1745. 

  1745. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1746. 

  1746. </P>
    1747. 

  1747. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1748. 

  1748. </P>
    1749. 

  1749. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1750. 

  1750. Main Arduino code</FONT></FONT></P>
    1751. 

  1751. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1752. 

  1752.  Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
    1753. 

  1753. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1754. 

  1754. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1755. 

  1755. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1756. 

  1756. setup() {</FONT></FONT></P>
    1757. 

  1757. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1758. 

  1758. </P>
    1759. 

  1759. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1760. 

  1760. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</FONT></FONT></P>
    1761. 

  1761. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1762. 

  1762. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;TaskScheduler
    1763. 

  1763. StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
    1764. 

  1764. </P>
    1765. 

  1765. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1766. 

  1766. <FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
    1767. 

  1767. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1768. 

  1768. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1769. 

  1769. </P>
    1770. 

  1770. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1771. 

  1771. loop() {</FONT></FONT></P>
    1772. 

  1772. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1773. 

  1773. </P>
    1774. 

  1774. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1775. 

  1775. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    1776. 

  1776. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1777. 

  1777. </P>
    1778. 

  1778. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1779. 

  1779. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1780. 

  1780. </P>
    1781. 

  1781. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1782. 

  1782. </P>
    1783. 

  1783. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1784. 

  1784. </P>
    1785. 

  1785. <OL START=3>
    1786. 

  1786. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>FUTHER
    1787. 

  1787. 	INFROMATION</B></FONT></P>
    1788. 

  1788. </OL>
    1789. 

  1789. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1790. 

  1790. </P>
    1791. 

  1791. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Please
    1792. 

  1792. refer to examples, provided with TaskScheduler package for further
    1793. 

  1793. information and implementation options.</FONT></FONT></P>
    1794. 

  1794. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1795. 

  1795. </P>
    1796. 

  1796. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Real
    1797. 

  1797. time examples of TaskScheduler are available here:</FONT></FONT></P>
    1798. 

  1798. <OL>
    1799. 

  1799. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/">http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/</A></U></FONT></FONT></FONT></P>
    1800. 

  1800. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/">http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/</A></U></FONT></FONT></FONT></P>
    1801. 

  1801. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider">http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider</A></U></FONT></FONT></FONT></P>
    1802. 

  1802. </OL>
    1803. 

  1803. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1804. 

  1804. </P>
    1805. 

  1805. </BODY>
    1806. 

  1806. </HTML>
    1807.