Главная Обзор Помощь
Вход
arkhipenko
/
TaskScheduler
зеркало из https://github-proxy.rt-thread.io/arkhipenko/TaskScheduler.git
2
0
Ответвить 0
Файлы Задачи 0 Вики
Дерево: dc152db48e
Ветки Метки
TaskScheduler
/
extras
/
TaskScheduler.html

TaskScheduler.html 116 KB
История Исходник

1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980818283848586878889909192939495969798991001011021031041051061071081091101111121131141151161171181191201211221231241251261271281291301311321331341351361371381391401411421431441451461471481491501511521531541551561571581591601611621631641651661671681691701711721731741751761771781791801811821831841851861871881891901911921931941951961971981992002012022032042052062072082092102112122132142152162172182192202212222232242252262272282292302312322332342352362372382392402412422432442452462472482492502512522532542552562572582592602612622632642652662672682692702712722732742752762772782792802812822832842852862872882892902912922932942952962972982993003013023033043053063073083093103113123133143153163173183193203213223233243253263273283293303313323333343353363373383393403413423433443453463473483493503513523533543553563573583593603613623633643653663673683693703713723733743753763773783793803813823833843853863873883893903913923933943953963973983994004014024034044054064074084094104114124134144154164174184194204214224234244254264274284294304314324334344354364374384394404414424434444454464474484494504514524534544554564574584594604614624634644654664674684694704714724734744754764774784794804814824834844854864874884894904914924934944954964974984995005015025035045055065075085095105115125135145155165175185195205215225235245255265275285295305315325335345355365375385395405415425435445455465475485495505515525535545555565575585595605615625635645655665675685695705715725735745755765775785795805815825835845855865875885895905915925935945955965975985996006016026036046056066076086096106116126136146156166176186196206216226236246256266276286296306316326336346356366376386396406416426436446456466476486496506516526536546556566576586596606616626636646656666676686696706716726736746756766776786796806816826836846856866876886896906916926936946956966976986997007017027037047057067077087097107117127137147157167177187197207217227237247257267277287297307317327337347357367377387397407417427437447457467477487497507517527537547557567577587597607617627637647657667677687697707717727737747757767777787797807817827837847857867877887897907917927937947957967977987998008018028038048058068078088098108118128138148158168178188198208218228238248258268278288298308318328338348358368378388398408418428438448458468478488498508518528538548558568578588598608618628638648658668678688698708718728738748758768778788798808818828838848858868878888898908918928938948958968978988999009019029039049059069079089099109119129139149159169179189199209219229239249259269279289299309319329339349359369379389399409419429439449459469479489499509519529539549559569579589599609619629639649659669679689699709719729739749759769779789799809819829839849859869879889899909919929939949959969979989991000100110021003100410051006100710081009101010111012101310141015101610171018101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010411042104310441045104610471048104910501051105210531054105510561057105810591060106110621063106410651066106710681069107010711072107310741075107610771078107910801081108210831084108510861087108810891090109110921093109410951096109710981099110011011102110311041105110611071108110911101111111211131114111511161117111811191120112111221123112411251126112711281129113011311132113311341135113611371138113911401141114211431144114511461147114811491150115111521153115411551156115711581159116011611162116311641165116611671168116911701171117211731174117511761177117811791180118111821183118411851186118711881189119011911192119311941195119611971198119912001201120212031204120512061207120812091210121112121213121412151216121712181219122012211222122312241225122612271228122912301231123212331234123512361237123812391240124112421243124412451246124712481249125012511252125312541255125612571258125912601261126212631264126512661267126812691270127112721273127412751276127712781279128012811282128312841285128612871288128912901291129212931294129512961297129812991300130113021303130413051306130713081309131013111312131313141315131613171318131913201321132213231324132513261327132813291330133113321333133413351336133713381339134013411342134313441345134613471348134913501351135213531354135513561357135813591360136113621363136413651366136713681369137013711372137313741375137613771378137913801381138213831384138513861387138813891390139113921393139413951396139713981399140014011402140314041405140614071408140914101411141214131414141514161417141814191420142114221423142414251426142714281429143014311432143314341435143614371438143914401441144214431444144514461447144814491450145114521453145414551456145714581459146014611462146314641465146614671468146914701471147214731474147514761477147814791480148114821483148414851486148714881489149014911492149314941495149614971498149915001501150215031504150515061507150815091510151115121513151415151516151715181519152015211522152315241525152615271528152915301531153215331534153515361537153815391540154115421543154415451546154715481549155015511552155315541555155615571558155915601561156215631564156515661567156815691570157115721573157415751576157715781579158015811582158315841585158615871588158915901591159215931594159515961597159815991600160116021603160416051606160716081609161016111612161316141615161616171618161916201621162216231624162516261627162816291630163116321633163416351636163716381639164016411642164316441645164616471648164916501651165216531654165516561657165816591660166116621663166416651666166716681669167016711672167316741675167616771678167916801681168216831684168516861687168816891690169116921693169416951696169716981699170017011702170317041705170617071708170917101711171217131714171517161717171817191720172117221723172417251726172717281729173017311732173317341735173617371738173917401741174217431744174517461747174817491750175117521753175417551756175717581759176017611762176317641765176617671768176917701771177217731774177517761777177817791780178117821783178417851786178717881789179017911792179317941795179617971798179918001801180218031804180518061807180818091810181118121813181418151816181718181819182018211822182318241825182618271828182918301831183218331834183518361837183818391840184118421843184418451846184718481849185018511852185318541855185618571858185918601861186218631864186518661867186818691870187118721873187418751876187718781879188018811882188318841885188618871888188918901891189218931894189518961897189818991900190119021903190419051906190719081909191019111912191319141915191619171918191919201921192219231924192519261927192819291930193119321933193419351936193719381939194019411942194319441945194619471948194919501951195219531954195519561957195819591960196119621963196419651966196719681969197019711972197319741975197619771978197919801981198219831984198519861987198819891990199119921993199419951996199719981999200020012002200320042005200620072008200920102011201220132014201520162017201820192020202120222023202420252026202720282029203020312032203320342035203620372038203920402041204220432044204520462047204820492050205120522053205420552056205720582059206020612062206320642065206620672068206920702071207220732074207520762077207820792080208120822083208420852086208720882089209020912092209320942095209620972098209921002101210221032104210521062107210821092110211121122113211421152116211721182119212021212122212321242125212621272128212921302131213221332134213521362137213821392140214121422143214421452146214721482149 
  1. <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
    2. 

  2. <HTML>
    3. 

  3. <HEAD>
    4. 

  4. 	<META HTTP-EQUIV="CONTENT-TYPE" CONTENT="text/html; charset=utf-8">
    5. 

  5. 	<TITLE></TITLE>
    6. 

  6. 	<META NAME="GENERATOR" CONTENT="LibreOffice 3.5  (Linux)">
    7. 

  7. 	<META NAME="CREATED" CONTENT="20150206;16300000">
    8. 

  8. 	<META NAME="CHANGEDBY" CONTENT="Anatoli Arkhipenko">
    9. 

  9. 	<META NAME="CHANGED" CONTENT="20151105;22050000">
    10. 

  10. 	<META NAME="Info 1" CONTENT="">
    11. 

  11. 	<META NAME="Info 2" CONTENT="">
    12. 

  12. 	<META NAME="Info 3" CONTENT="">
    13. 

  13. 	<META NAME="Info 4" CONTENT="">
    14. 

  14. 	<STYLE TYPE="text/css">
    15. 

  15. 	<!--
    16. 

  16. 		@page { margin: 0.79in }
    17. 

  17. 		P { margin-bottom: 0.08in; direction: ltr; color: #000000; widows: 0; orphans: 0 }
    18. 

  18. 		P.western { font-family: "Liberation Serif", "Times New Roman", serif; font-size: 12pt; so-language: en-US }
    19. 

  19. 		P.cjk { font-family: "WenQuanYi Micro Hei", "MS Mincho"; font-size: 12pt; so-language: zh-CN }
    20. 

  20. 		P.ctl { font-family: "Lohit Hindi", "MS Mincho"; font-size: 12pt; so-language: hi-IN }
    21. 

  21. 		A:link { color: #0000ff }
    22. 

  22. 	-->
    23. 

  23. 	</STYLE>
    24. 

  24. </HEAD>
    25. 

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

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

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

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

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

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

  31. <FONT SIZE=2 STYLE="font-size: 11pt"><B>Version 1.8.3: 2015-11-05</B></FONT></P>
    32. 

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

  33. </P>
    34. 

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

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

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

  37. supporting:</P>
    38. 

  38. <OL>
    39. 

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

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

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

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

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

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

  45. 	in predefined sequence</P>
    46. 

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

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

  48. 	methods)</P>
    49. 

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

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

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

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

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

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

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

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

  57. 	multiple tasks)</P>
    58. 

  58. </OL>
    59. 

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

  60. </P>
    61. 

  61. <P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK</B>:</P>
    62. 

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

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

  64. <OL>
    65. 

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

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

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

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

  69. 	execution iterations</P>
    70. 

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

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

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

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

  74. </OL>
    75. 

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

  76. </P>
    77. 

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

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

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

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

  81. triggered by hardware interrupts. 
    82. 

  82. </P>
    83. 

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

  84. </P>
    85. 

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

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

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

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

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

  90. </P>
    91. 

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

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

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

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

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

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

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

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

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

  100. LOW at the end). 
    101. 

  101. </P>
    102. 

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

  103. </P>
    104. 

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

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

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

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

  108. possible. 
    109. 

  109. </P>
    110. 

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

  111. </P>
    112. 

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

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

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

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

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

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

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

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

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

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

  122. </P>
    123. 

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

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

  125. <P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html_m68472eb8.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=655 BORDER=0></P>
    126. 

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

  127. </P>
    128. 

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

  129. library maybe compiled with different compilation controls
    130. 

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

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

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

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

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

  135. </P>
    136. 

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

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

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

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

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

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

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

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

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

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

  146. execution.</P>
    147. 

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

  148. </P>
    149. 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  163. </P>
    164. 

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

  165. </P>
    166. 

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

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

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

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

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

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

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

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

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

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

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

  177. </P>
    178. 

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

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

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

  181. t1 is invoked. 
    182. 

  182. </P>
    183. 

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

  184. </P>
    185. 

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

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

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

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

  189. </P>
    190. 

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

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

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

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

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

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

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

  197. </P>
    198. 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  213. </P>
    214. 

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

  215. </P>
    216. 

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

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

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

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

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

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

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

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

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

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

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

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

  228. </P>
    229. 

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

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

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

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

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

  234. completion to each other. 
    235. 

  235. </P>
    236. 

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

  237. </P>
    238. 

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

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

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

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

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

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

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

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

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

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

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

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

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

  251. </P>
    252. 

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

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

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

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

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

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

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

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

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

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

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

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

  264. </P>
    265. 

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

  266. </P>
    267. 

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

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

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

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

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

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

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

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

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

  276. </P>
    277. 

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

  278. </P>
    279. 

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

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

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

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

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

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

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

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

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

  288. invoked incorrectly once every 47 days. 
    289. 

  289. </P>
    290. 

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

  291. </P>
    292. 

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

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

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

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

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

  297. </P>
    298. 

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

  299. </P>
    300. 

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

  301. </P>
    302. 

  302. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    303. 

  303. <FONT SIZE=4><B>API DOCUMENTATION:</B></FONT></P>
    304. 

  304. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    305. 

  305. <BR>
    306. 

  306. </P>
    307. 

  307. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    308. 

  308. <FONT SIZE=4><B>TASKS:</B></FONT></P>
    309. 

  309. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    310. 

  310. <BR>
    311. 

  311. </P>
    312. 

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

  313. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
    314. 

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

  315. </P>
    316. 

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

  317. constructor. 
    318. 

  318. </P>
    319. 

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

  320. no parameters and creates a task that could be scheduled to run at
    321. 

  321. every scheduling pass indefinitely, but does not have a callback
    322. 

  322. method defined, so no code execution will actually take place. 
    323. 

  323. </P>
    324. 

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

  325. tasks are created <B>disabled</B> by default.</P>
    326. 

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

  327. </P>
    328. 

  328. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    329. 

  329. <B>Task(unsigned long aInterval, long aIterations, void
    330. 

  330. (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
    331. 

  331. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    332. 

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

  333. </P>
    334. 

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

  335. with parameters. 
    336. 

  336. </P>
    337. 

  337. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Creates
    338. 

  338. a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
    339. 

  339. &lt;aIterations&gt; times, executing &lt;aCallback&gt; method on
    340. 

  340. every pass. 
    341. 

  341. </P>
    342. 

  342. <OL>
    343. 

  343. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
    344. 

  344. 	milliseconds (<B>default = 0)</B></P>
    345. 

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

  346. 	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
    347. 

  347. 	</B>Tasks do not remember the number of iteration set initially.
    348. 

  348. 	After the iterations are done, internal iteration counter is 0. If
    349. 

  349. 	you need to perform another set of iterations, you need to set the
    350. 

  350. 	number of iterations again. <BR><B>Note: </B>Tasks which performed
    351. 

  351. 	all their iterations remain active. 
    352. 

  352. 	</P>
    353. 

  353. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
    354. 

  354. 	pointer to a void callback method without parameters (<B>default =
    355. 

  355. 	NULL)</B></P>
    356. 

  356. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
    357. 

  357. 	<B>optional</B> reference to existing scheduler. If supplied (not
    358. 

  358. 	NULL) this task will be appended to the task chain of the current
    359. 

  359. 	scheduler). (<B>default = NULL)</B></P>
    360. 

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

  361. 	<B>optional</B>. Value of <B>true </B>will create task enabled.
    362. 

  362. 	(<B>default = false)</B></P>
    363. 

  363. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
    364. 

  364. 	pointer to a bool callback method without parameters, invoked when
    365. 

  365. 	task is enabled. If OnEnable method returns <B>true</B>, task is
    366. 

  366. 	enabled. If <B>OnEnable</B> method return <B>false</B>, task remains
    367. 

  367. 	disabled (<B>default = NULL)</B></P>
    368. 

  368. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
    369. 

  369. 	pointer to a void callback method without parameters, invoked when
    370. 

  370. 	task is disabled (<B>default = NULL)</B></P>
    371. 

  371. </OL>
    372. 

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

  373. </P>
    374. 

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

  375. tasks are created <B>disabled</B> by default (unless <B>aEnable</B> =
    376. 

  376. true). You have to explicitly enable the task for execution.</P>
    377. 

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

  378. </P>
    379. 

  379. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
    380. 

  380. </B>OnEnable callback method is called immediately when task is
    381. 

  381. enabled, which could be well ahead of the scheduled execution time of
    382. 

  382. the task. Please bear that in mind – other tasks, hardware, serial
    383. 

  383. interface may not even be initialized yet. It is always advisable to
    384. 

  384. explicitly enable tasks with OnEnable methods after all
    385. 

  385. initialization methods completed (e.g., at the end of <B>setup</B>()
    386. 

  386. method) 
    387. 

  387. </P>
    388. 

  388. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    389. 

  389. </P>
    390. 

  390. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enabled
    391. 

  391. task is scheduled for execution as soon as the Scheduler's <B>execute</B>()
    392. 

  392. methods gets control. In order to delay first run of the task, use
    393. 

  393. <B>enableDelayed</B> or <B>delay</B> method (for enabled tasks)
    394. 

  394. method.</P>
    395. 

  395. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    396. 

  396. </P>
    397. 

  397. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    398. 

  398. <B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
    399. 

  399. (*aOnEnable)(), void (*aOnDisable)())</B></P>
    400. 

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

  401. </P>
    402. 

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

  403. compiled with support for Status Request objects, this constructor
    404. 

  404. creates a Task for activation on event (since such tasks must run
    405. 

  405. <B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
    406. 

  406. <I>enabled</I> status will be set by that method (<I>to 0, 1 and
    407. 

  407. false</I> respectively).</P>
    408. 

  408. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    409. 

  409. </P>
    410. 

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

  411. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    412. 

  412. following 3 “getter” methods return task status
    413. 

  413. (enabled/disabled), execution interval in milliseconds, number of
    414. 

  414. <I><B>remaining</B></I> iterations. 
    415. 

  415. </P>
    416. 

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

  417. </P>
    418. 

  418. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
    419. 

  419. isEnabled() </B>
    420. 

  420. </P>
    421. 

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

  422. long getInterval()</B></P>
    423. 

  423. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
    424. 

  424. getIterations() </B>
    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-bottom: 0in"><B>long getOverrun()</B></P>
    429. 

  429. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    430. 

  430. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    431. 

  431. enabled, tasks are monitored for “long running” scenario. A “long
    432. 

  432. running” task is a task that does not finish processing its
    433. 

  433. callback methods quickly, and thus creates a situation for itself and
    434. 

  434. other tasks where they don't run on a scheduled interval, but rather
    435. 

  435. “catch up” and are behind.  When task scheduler sets the next
    436. 

  436. execution target time, it adds Task's execution interval to the
    437. 

  437. previously scheduled execution time:</P>
    438. 

  438. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">	<B>next
    439. 

  439. execution time = previous execution time + task execution interval</B></P>
    440. 

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

  441. </P>
    442. 

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

  443. <B>next execution time</B> happens to be already in the past (<B>next
    444. 

  444. execution time</B> &lt; <B>millis()</B>), then task is considered
    445. 

  445. <I><B>overrun</B></I>. <B>GetOverrun</B> method returns number of
    446. 

  446. milliseconds between next execution time and current time. If the
    447. 

  447. <B>value is negative</B>, the task has overrun (cut into the) next
    448. 

  448. execution interval by that many milliseconds. 
    449. 

  449. </P>
    450. 

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

  451. value indicate number of milliseconds of slack this task has for
    452. 

  452. execution purposes. 
    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-bottom: 0in"><B>unsigned long
    457. 

  457. getRunCounter()</B></P>
    458. 

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

  459. the number of the current run. “Current run” is the number of
    460. 

  460. times a callback method has been invoked since the last time a task
    461. 

  461. was enabled. <BR><BR>
    462. 

  462. </P>
    463. 

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

  464. </B>The <B>runCounter</B> value is incremented <I>before</I> callback
    465. 

  465. method is invoked. If a task is checking the <B>runCounter</B> value
    466. 

  466. within its callback method, then the first run value is 1. 
    467. 

  467. </P>
    468. 

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

  469. task T1 is checking the <B>runCounter</B> value of another task (T2)
    470. 

  470. , then value = 0 indicates that T2 has not been invoked yet, and
    471. 

  471. value = 1 indicates that T2 has run once. 
    472. 

  472. </P>
    473. 

  473. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    474. 

  474. </P>
    475. 

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

  476. isFirstIteration()</B></P>
    477. 

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

  478. whether current pass is (or will be) a first iteration of the task. 
    479. 

  479. </P>
    480. 

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

  481. isLastIteration()</B></P>
    482. 

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

  483. tasks with a l<I>imited number of iterations only</I>, indicates
    484. 

  484. whether current pass is the last iteration. 
    485. 

  485. </P>
    486. 

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

  487. </P>
    488. 

  488. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    489. 

  489. <B>CONTROL:</B></P>
    490. 

  490. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    491. 

  491. <BR>
    492. 

  492. </P>
    493. 

  493. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
    494. 

  494. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    495. 

  495. </P>
    496. 

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

  497. the task, and schedules it for immediate execution (without delay) at
    498. 

  498. this or next scheduling pass depending on when the task was enabled.
    499. 

  499. Scheduler will execute the next pass without any delay because there
    500. 

  500. is a task which was enabled and requires execution. 
    501. 

  501. </P>
    502. 

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

  503. </P>
    504. 

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

  505. </B><SPAN STYLE="font-weight: normal">if task</SPAN> being enabled is
    506. 

  506. not assigned to a scheduler and is not part of execution chain, then
    507. 

  507. task <B>will not</B> be enabled.</P>
    508. 

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

  509. </P>
    510. 

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

  511. </B>enable() invokes task’s <B>OnEnable</B> method (if not NULL)
    512. 

  512. <B>immediately</B>, which can prepare task for execution. <B>OnEnable</B>
    513. 

  513. must return a value of <B>true</B> for task to be enabled. If
    514. 

  514. <B>OnEnable</B> returns <B>false</B>, task remains disabled. 
    515. 

  515. <B>OnEnable</B> is invoked every time <B>enable</B> is called,
    516. 

  516. regardless if task is already enabled or not. 
    517. 

  517. </P>
    518. 

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

  519. </P>
    520. 

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

  521. in the event enable() method is called inside the OnEnable callback
    522. 

  522. method (thus basically creating indefinte loop), TaskScheduler will
    523. 

  523. only call OnEnable once (thus protecting the Task against OnEnable
    524. 

  524. infinite loop). 
    525. 

  525. </P>
    526. 

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

  527. </P>
    528. 

  528. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool enableIfNot();</B></P>
    529. 

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

  530. </P>
    531. 

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

  532. the task only if it was previously disabled. Returns previous enable
    533. 

  533. state: <B>true</B> if task was already enabled, and <B>false</B> if
    534. 

  534. task was disabled. Since <B>enable() </B>schedules Task for execution
    535. 

  535. immediately, this method provides a way to activate tasks and
    536. 

  536. schedule them for immediate execution only if they are not active
    537. 

  537. already.</P>
    538. 

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

  539. </P>
    540. 

  540. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
    541. 

  541. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    542. 

  542. </P>
    543. 

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

  544. the task for execution after a delay (aInterval), but does not change
    545. 

  545. the enabled/disabled status of the task. 
    546. 

  546. </P>
    547. 

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

  548. </P>
    549. 

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

  550. </B>a delay of 0 (zero) will delay task for current execution
    551. 

  551. interval. Use <B>forceNextIteration() </B>method to force execution
    552. 

  552. of the task’s callback during immediate next scheduling pass. 
    553. 

  553. </P>
    554. 

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

  555. </P>
    556. 

  556. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    557. 

  557. forceNextIteration();</B></P>
    558. 

  558. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    559. 

  559. </P>
    560. 

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

  561. the task for execution during immediate next scheduling pass.</P>
    562. 

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

  563. </P>
    564. 

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

  565. </B>Task’s schedule is adjusted to run from this moment in time.
    566. 

  566. For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
    567. 

  567. calling <B>forceNextIteration </B>at 44th second of task execution
    568. 

  568. will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
    569. 

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

  570. </P>
    571. 

  571. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void
    572. 

  572. enableDelayed();</B></P>
    573. 

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

  574. </P>
    575. 

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

  576. the task, and schedules it for execution after task's current
    577. 

  577. scheduling interval (aInterval). 
    578. 

  578. </P>
    579. 

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

  580. </P>
    581. 

  581. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
    582. 

  582. (unsigned long aDelay);</B></P>
    583. 

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

  584. </P>
    585. 

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

  586. the task, and schedules it for execution after a specific delay
    587. 

  587. (aDelay, which maybe different from aInterval). 
    588. 

  588. </P>
    589. 

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

  590. </P>
    591. 

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

  592. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    593. 

  593. </P>
    594. 

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

  595. tasks with limited number of iterations only, <B>restart</B> method
    596. 

  596. will re-enable the task, set the number of iterations back to last
    597. 

  597. set value, and schedule task for execution as soon as possible.</P>
    598. 

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

  599. </P>
    600. 

  600. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void restartDelayed
    601. 

  601. (unsigned long aDelay);</B></P>
    602. 

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

  603. </P>
    604. 

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

  605. as <B>restart()</B> method, with the only difference being that Task
    606. 

  606. is scheduled to run first iteration after a delay = <B>aDelay</B>
    607. 

  607. milliseconds.</P>
    608. 

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

  609. </P>
    610. 

  610. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
    611. 

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

  612. </P>
    613. 

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

  614. the task. Scheduler will not execute this task any longer, even if it
    615. 

  615. remains in the chain.  Task <B>can</B> be later re-enabled for
    616. 

  616. execution. 
    617. 

  617. </P>
    618. 

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

  619. previous enabled state: <B>true</B> if task was enabled prior to
    620. 

  620. calling disable, and <B>false</B> otherwise.</P>
    621. 

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

  622. not NULL, task’s <B>OnDisable</B> method is invoked <B>immediately</B>.
    623. 

  623. <B>OnDisable</B> is invoked only if task was in enabled state. 
    624. 

  624. Calling <B>disable</B> 3 times for instance will invoke <B>OnDisable</B>
    625. 

  625. only once.</P>
    626. 

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

  627. </P>
    628. 

  628. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void set(unsigned
    629. 

  629. long aInterval, long aIterations, void (*aCallback)() , bool
    630. 

  630. (*aOnEnable)() , void (*aOnDisable)());</B></P>
    631. 

  631. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    632. 

  632. </P>
    633. 

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

  634. dynamic control of task execution parameters in one method call. 
    635. 

  635. </P>
    636. 

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

  637. </B>OnEnable and OnDisable parameters can be omitted. In that case
    638. 

  638. they will be assigned to NULL and respective methods will no longer
    639. 

  639. be called. 
    640. 

  640. </P>
    641. 

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

  642. </P>
    643. 

  643. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    644. 

  644. Next five “setter” methods allow changes of individual task
    645. 

  645. execution control parameters. 
    646. 

  646. </P>
    647. 

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

  648. setInterval (unsigned long aInterval) </B>
    649. 

  649. </P>
    650. 

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

  651. setIterations (long aIterations) </B>
    652. 

  652. </P>
    653. 

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

  654. setCallback (void (*aCallback)()) </B>
    655. 

  655. </P>
    656. 

  656. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
    657. 

  657. setOnEnable (bool (*aCallback)()) </B>
    658. 

  658. </P>
    659. 

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

  660. setOnDisable (void (*aCallback)()) </B>
    661. 

  661. </P>
    662. 

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

  663. </P>
    664. 

  664. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Next
    665. 

  665. execution time calculation takes place <B>after</B> the callback
    666. 

  666. method is called, so new interval will be used immediately by the
    667. 

  667. scheduler. For the situations when one task is changing the interval
    668. 

  668. parameter for the other, <B>setInterval</B> method calls <B>delay
    669. 

  669. </B>explicitly to guarantee schedule change, however it <B>does not
    670. 

  670. </B>enable the task if task is disabled.</P>
    671. 

  671. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Note: </B>Tasks that
    672. 

  672. ran through all their allocated iterations are disabled.
    673. 

  673. <B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
    674. 

  674. <B>enable</B> explicitly, or use <B>restart</B> methods. 
    675. 

  675. </P>
    676. 

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

  677. </P>
    678. 

  678. <P CLASS="western" STYLE="margin-bottom: 0in"><B>STATUS REQUEST
    679. 

  679. METHODS:</B></P>
    680. 

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

  681. <BR>
    682. 

  682. </P>
    683. 

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

  684. <B>void waitFor(StatusRequest* aStatusRequest, unsigned long
    685. 

  685. aInterval = 0, long aIterations = 1)</B></P>
    686. 

  686. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    687. 

  687. <B>void waitForDelayed(StatusRequest* aStatusRequest, unsigned long
    688. 

  688. aInterval = 0, long aIterations = 1)</B></P>
    689. 

  689. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    690. 

  690. <BR>
    691. 

  691. </P>
    692. 

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

  693. compiled with support for Status Requests, these methods make task
    694. 

  694. wait for the completion of <B>aStatusRequest</B> event. 
    695. 

  695. </P>
    696. 

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

  697. default <B>waitFor() </B>sets tasks interval to <B>0 (zero)</B> for
    698. 

  698. immediate execution when event happens, and also sets the number of
    699. 

  699. <B>iterations to 1</B>. However, you can specify different interval
    700. 

  700. and number of iterations. 
    701. 

  701. </P>
    702. 

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

  703. default <B>waitForDelayed() </B>sets tasks interval to a supplied
    704. 

  704. value or (if omitted or zero) keeps the current interval, so delayed
    705. 

  705. execution will take place when the event happens.  It also sets the
    706. 

  706. number of <B>iterations to 1</B><SPAN STYLE="font-weight: normal"> by
    707. 

  707. default if not supplied</SPAN>.  
    708. 

  708. </P>
    709. 

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

  710. Status Request object completes, all tasks waiting on it are executed
    711. 

  711. during next scheduling pass. Tasks waiting via <B>waitFor</B>()
    712. 

  712. method are executed immediately. Tasks waiting via <B>waitForDelayed</B>()
    713. 

  713. method are activated, but executed after current or supplied interval
    714. 

  714. delay. 
    715. 

  715. </P>
    716. 

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

  717. aStatusRequest</B> should be “activated” by calling <B>setWaiting()
    718. 

  718. </B>method before making a task wait on it. Otherwise, the task will
    719. 

  719. execute immediately. 
    720. 

  720. </P>
    721. 

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

  722. sequence of events to use Status Request object is as follows:</P>
    723. 

  723. <OL>
    724. 

  724. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Create a status
    725. 

  725. 	request object</P>
    726. 

  726. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Activate status
    727. 

  727. 	request object (calling its <B>setWaiting</B>() method)</P>
    728. 

  728. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Set up tasks to
    729. 

  729. 	wait of the event completion</P>
    730. 

  730. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Signal completion
    731. 

  731. 	of event(s)</P>
    732. 

  732. </OL>
    733. 

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

  734. </P>
    735. 

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

  736. </P>
    737. 

  737. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
    738. 

  738. getStatusRequest()</B></P>
    739. 

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

  740. a StatusReqeust object this Task was waiting on. 
    741. 

  741. </P>
    742. 

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

  743. </P>
    744. 

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

  745. </P>
    746. 

  746. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    747. 

  747. <B>TASK ID, CONTROL POINTS METHODS:</B></P>
    748. 

  748. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    749. 

  749. <BR>
    750. 

  750. </P>
    751. 

  751. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    752. 

  752. <B>void setId(unsigned int aID);</B></P>
    753. 

  753. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    754. 

  754. <BR>
    755. 

  755. </P>
    756. 

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

  757. compiled with support for Task IDs, this method will set the task ID
    758. 

  758. explicitly. 
    759. 

  759. </P>
    760. 

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

  761. this method is not necessary as task IDs are assigned automatically
    762. 

  762. during task creation: 1, 2, 3, …</P>
    763. 

  763. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    764. 

  764. </P>
    765. 

  765. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    766. 

  766. <B>unsigned int getId();</B></P>
    767. 

  767. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    768. 

  768. <BR>
    769. 

  769. </P>
    770. 

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

  771. compiled with support for Task IDs, this method return current task’s
    772. 

  772. ID.</P>
    773. 

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

  774. </P>
    775. 

  775. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    776. 

  776. <B>void setControlPoint (unsigned int aPoint);</B></P>
    777. 

  777. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    778. 

  778. <BR>
    779. 

  779. </P>
    780. 

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

  781. compiled with support for Task IDs, this method will set a control
    782. 

  782. point in the task’s code. Control points are similar to “try…catch”
    783. 

  783. blocks, with control point ID specifying where in the code the “try”
    784. 

  784. part started, and a mechanism like watchdog timer providing the
    785. 

  785. “catch” functionality.</P>
    786. 

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

  787. </P>
    788. 

  788. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    789. 

  789. <B>unsigned int getControlPoint()</B></P>
    790. 

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

  791. <BR>
    792. 

  792. </P>
    793. 

  793. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    794. 

  794. If compiled with support for Task IDs, this method will return
    795. 

  795. currently set control point for this task.</P>
    796. 

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

  797. <BR>
    798. 

  798. </P>
    799. 

  799. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    800. 

  800. <BR>
    801. 

  801. </P>
    802. 

  802. <P CLASS="western" STYLE="margin-bottom: 0in"><B>LOCAL TASK STORAGE
    803. 

  803. METHODS:</B></P>
    804. 

  804. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    805. 

  805. <BR>
    806. 

  806. </P>
    807. 

  807. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    808. 

  808. <B>void setLtsPointer(void *aPtr);</B></P>
    809. 

  809. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    810. 

  810. <BR>
    811. 

  811. </P>
    812. 

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

  813. compiled with support for LTS, this method will set the task's local
    814. 

  814. storage pointer.</P>
    815. 

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

  816. </P>
    817. 

  817. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    818. 

  818. <B>void *getLtsPointer();</B></P>
    819. 

  819. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    820. 

  820. <BR>
    821. 

  821. </P>
    822. 

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

  823. compiled with support for LTS, this method will return reference to
    824. 

  824. the task's local storage.</P>
    825. 

  825. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    826. 

  826. </B>the value returned has type (void *), and needs to be re-cast
    827. 

  827. into appropriate pointer type. Please refer to example sketches for
    828. 

  828. implementation options. 
    829. 

  829. </P>
    830. 

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

  831. </P>
    832. 

  832. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    833. 

  833. </P>
    834. 

  834. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    835. 

  835. <BR>
    836. 

  836. </P>
    837. 

  837. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    838. 

  838. <FONT SIZE=4><B>TASK SCHEDULER:</B></FONT></P>
    839. 

  839. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    840. 

  840. <BR>
    841. 

  841. </P>
    842. 

  842. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    843. 

  843. <B>CREATION:</B></P>
    844. 

  844. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
    845. 

  845. <BR>
    846. 

  846. </P>
    847. 

  847. <P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler()</B><BR><BR>
    848. 

  848. </P>
    849. 

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

  850. constructor. 
    851. 

  851. </P>
    852. 

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

  853. no parameters. Creates task scheduler with default parameters and an
    854. 

  854. empty task queue. 
    855. 

  855. </P>
    856. 

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

  857. </P>
    858. 

  858. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void init()</B></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-left: 0.49in; margin-bottom: 0in">Initializes
    862. 

  862. the task queue and scheduler parameters, Executed as part of
    863. 

  863. constructor, so don't need to be explicitly called after creation.</P>
    864. 

  864. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    865. 

  865. </B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    866. 

  866. enabled) scheduler is allowed to put processor to IDLE sleep mode. If
    867. 

  867. this behavior was changed via <B>allowSleep()</B> method, <B>inti()
    868. 

  868. </B>will <B>NOT</B> reset allow sleep particular parameter. 
    869. 

  869. </P>
    870. 

  870. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    871. 

  871. addTask(Task&amp; aTask)</B></P>
    872. 

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

  873. </P>
    874. 

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

  875. task aTask to the execution queue (or chain) of tasks by appending it
    876. 

  876. to the end of the chain. If two tasks are scheduled for execution,
    877. 

  877. the sequence will match the order in which tasks were appended to the
    878. 

  878. chain. However, in reality, due to different timing of task
    879. 

  879. execution, the actual order may be different. 
    880. 

  880. </P>
    881. 

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

  882. </B>Currently, changing the execution sequence in a chain dynamically
    883. 

  883. is not supported. 
    884. 

  884. </P>
    885. 

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

  886. you need to reorder the chain sequence – initialize the scheduler
    887. 

  887. and re-add the tasks in a different order. 
    888. 

  888. </P>
    889. 

  889. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
    890. 

  890. deleteTask(Task&amp; aTask)</B></P>
    891. 

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

  892. </P>
    893. 

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

  894. task aTask from the execution chain. The chain of remaining tasks is
    895. 

  895. linked together (i.e</P>
    896. 

  896. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">if
    897. 

  897. original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
    898. 

  898. 1 → 2 → 4).</P>
    899. 

  899. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
    900. 

  900. </B>it is not required to delete a task from the chain. A disabled
    901. 

  901. task will not be executed anyway, but you save a few microseconds per
    902. 

  902. scheduling pass by deleting it, since it is not even considered for
    903. 

  903. execution. 
    904. 

  904. </P>
    905. 

  905. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">An
    906. 

  906. example of proper use of this method would be running some sort of
    907. 

  907. <B>initialize</B> task in the chain, and then deleting it from the
    908. 

  908. chain since it only needs to run once. 
    909. 

  909. </P>
    910. 

  910. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    911. 

  911. </P>
    912. 

  912. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
    913. 

  913. aState) </B>
    914. 

  914. </P>
    915. 

  915. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    916. 

  916. </P>
    917. 

  917. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Available
    918. 

  918. in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    919. 

  919. enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
    920. 

  920. or not (<B>aState =false</B>) to put processor into IDLE sleep mode
    921. 

  921. in case not tasks are scheduled to run.</P>
    922. 

  922. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
    923. 

  923. <B>default</B> behavior of scheduler upon creation is to allow sleep
    924. 

  924. mode. 
    925. 

  925. </P>
    926. 

  926. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void enableAll()</B></P>
    927. 

  927. <P CLASS="western" STYLE="margin-bottom: 0in"><B>void disableAll()</B></P>
    928. 

  928. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    929. 

  929. </P>
    930. 

  930. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">enables
    931. 

  931. and disables (respectively) all tasks in the chain. Convenient if
    932. 

  932. your need to enable/disable majority of the tasks (i.e. disable all
    933. 

  933. and then enable one). 
    934. 

  934. </P>
    935. 

  935. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    936. 

  936. <BR><B>Task&amp; currentTask()<BR></B><BR>
    937. 

  937. </P>
    938. 

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

  939. reference to the task, currently executing via <B>execute()</B> loop
    940. 

  940. <B>OR </B>for OnEnable and OnDisable methods, reference to the task
    941. 

  941. being enabled or disabled. 
    942. 

  942. </P>
    943. 

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

  944. distinction is important because one task can activate the other, and
    945. 

  945. OnEnable should be referring to the task being enabled, not being
    946. 

  946. executed. 
    947. 

  947. </P>
    948. 

  948. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Could
    949. 

  949. be used by callback methods to identify which Task actually invoked
    950. 

  950. this callback method.</P>
    951. 

  951. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    952. 

  952. </P>
    953. 

  953. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    954. 

  954. <B>void* currentLts()<BR></B><BR>
    955. 

  955. </P>
    956. 

  956. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    957. 

  957. pointer to Local Task Storage of the task, currently executing via
    958. 

  958. <B>execute()</B> loop <B>OR </B>for OnEnable and OnDisable methods,
    959. 

  959. task being enabled or disabled. 
    960. 

  960. </P>
    961. 

  961. <P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void execute()</B></P>
    962. 

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

  963. </P>
    964. 

  964. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Executes
    965. 

  965. one scheduling pass, including end-of-pass sleep. This method is
    966. 

  966. typically placed inside the <B>loop()</B> method of the sketch. Since
    967. 

  967. <B>execute</B> exits after every pass, you can put additional
    968. 

  968. statements after <B>execute</B> inside the <B>loop()</B> 
    969. 

  969. </P>
    970. 

  970. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    971. 

  971. </P>
    972. 

  972. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool isOverrun()</B></P>
    973. 

  973. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
    974. 

  974. library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
    975. 

  975. enabled, this method returns <B>true</B><SPAN STYLE="font-weight: normal">
    976. 

  976. if currently invoked task has overrun its scheduled start time when
    977. 

  977. it was invoked. Returns </SPAN><B>false</B><SPAN STYLE="font-weight: normal">
    978. 

  978. if task has been invoked according to schedule.</SPAN></P>
    979. 

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

  980. </P>
    981. 

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

  982. </P>
    983. 

  983. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    984. 

  984. <B>STATUS REQUEST:</B></P>
    985. 

  985. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    986. 

  986. <BR>
    987. 

  987. </P>
    988. 

  988. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    989. 

  989. <B>CREATION:</B></P>
    990. 

  990. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    991. 

  991. <BR>
    992. 

  992. </P>
    993. 

  993. <P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
    994. 

  994. </P>
    995. 

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

  996. constructor. 
    997. 

  997. </P>
    998. 

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

  999. no parameters. Creates Status Request object, which is assigned a
    1000. 

  1000. status of “completed” on creation. 
    1001. 

  1001. </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-bottom: 0in"><B>void
    1005. 

  1005. setWaiting(unsigned int aCount = 1)</B></P>
    1006. 

  1006. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Activates
    1007. 

  1007. Status Request object. By default each object is set to wait on one
    1008. 

  1008. event only, however, if <B>aCount</B> is supplied, Status Request can
    1009. 

  1009. wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
    1010. 

  1010. on three signals. An example could be waiting for completion of
    1011. 

  1011. measurements from 3 sensors. 
    1012. 

  1012. </P>
    1013. 

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

  1014. </P>
    1015. 

  1015. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signal(int
    1016. 

  1016. aStatus)</B></P>
    1017. 

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

  1018. completion of the event to the Status Request object, and passes a
    1019. 

  1019. completion code, which could be interrogated later. 
    1020. 

  1020. </P>
    1021. 

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

  1022. </B> passing a <B>negative</B> status code to the status request
    1023. 

  1023. object is considered reporting an error condition, and will complete
    1024. 

  1024. the status request regardless of how many outstanding signals it is
    1025. 

  1025. still waiting for. 
    1026. 

  1026. </P>
    1027. 

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

  1028. only the latest status code is kept.</P>
    1029. 

  1029. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1030. 

  1030. </P>
    1031. 

  1031. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
    1032. 

  1032. (int aStatus)</B></P>
    1033. 

  1033. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
    1034. 

  1034. completion of <B>ALL</B> events to the Status Request object, and
    1035. 

  1035. passes a completion code, which could be interrogated later. The
    1036. 

  1036. status request completes regardless of how many events it is still
    1037. 

  1037. waiting on. 
    1038. 

  1038. </P>
    1039. 

  1039. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1040. 

  1040. </P>
    1041. 

  1041. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
    1042. 

  1042. </P>
    1043. 

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

  1044. <B>true</B> if status request is still waiting for event or events to
    1045. 

  1045. happen.</P>
    1046. 

  1046. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1047. 

  1047. </P>
    1048. 

  1048. <P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
    1049. 

  1049. </P>
    1050. 

  1050. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
    1051. 

  1051. <B>true</B> if status has completed.</P>
    1052. 

  1052. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1053. 

  1053. </P>
    1054. 

  1054. <P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
    1055. 

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

  1056. the status code passed to the status request object by the <B>signal()
    1057. 

  1057. </B>and <B>signalComplete() </B>methods. 
    1058. 

  1058. </P>
    1059. 

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

  1060. <B>positive</B> number is considered a successful completion status.</P>
    1061. 

  1061. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">A
    1062. 

  1062. 0 (zero) is considered a default successful completion status.</P>
    1063. 

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

  1064. <B>negative</B> number is considered an error code and unsuccessful
    1065. 

  1065. completion of a request.</P>
    1066. 

  1066. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1067. 

  1067. </P>
    1068. 

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

  1069. </P>
    1070. 

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

  1071. </P>
    1072. 

  1072. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
    1073. 

  1073. <B>CONSTANTS:</B></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; page-break-after: avoid">
    1077. 

  1077. <B>TASK_SECOND	(1000)</B></P>
    1078. 

  1078. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1079. 

  1079. interval of 1 second</P>
    1080. 

  1080. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1081. 

  1081. </P>
    1082. 

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

  1083. <B>TASK_MINUTE	(60000)</B></P>
    1084. 

  1084. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1085. 

  1085. interval of 1 minute</P>
    1086. 

  1086. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1087. 

  1087. </P>
    1088. 

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

  1089. <B>TASK_HOUR		(3600000)</B></P>
    1090. 

  1090. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1091. 

  1091. interval of 1 hour</P>
    1092. 

  1092. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1093. 

  1093. <B>TASK_FOREVER	(-1)</B></P>
    1094. 

  1094. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1095. 

  1095. number of iterations for infinite number of iterations</P>
    1096. 

  1096. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1097. 

  1097. </P>
    1098. 

  1098. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1099. 

  1099. <B>TASK_ONCE		(1)</B></P>
    1100. 

  1100. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1101. 

  1101. single iteration</P>
    1102. 

  1102. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    1103. 

  1103. </P>
    1104. 

  1104. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
    1105. 

  1105. <B>TASK_IMMEDIATE	(0)</B></P>
    1106. 

  1106. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
    1107. 

  1107. interval for immediate execution</P>
    1108. 

  1108. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1109. 

  1109. </P>
    1110. 

  1110. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1111. 

  1111. </P>
    1112. 

  1112. <P CLASS="western" STYLE="margin-bottom: 0in; page-break-before: always; page-break-after: avoid">
    1113. 

  1113. <B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
    1114. 

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

  1115. </P>
    1116. 

  1116. <OL>
    1117. 

  1117. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><B>EVENT DRIVEN
    1118. 

  1118. 	PROGRAMMING</B></P>
    1119. 

  1119. </OL>
    1120. 

  1120. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1121. 

  1121. </P>
    1122. 

  1122. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
    1123. 

  1123. of your application becomes a separate and distinct programming area,
    1124. 

  1124. which may or may not interact and control each other. 
    1125. 

  1125. </P>
    1126. 

  1126. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1127. 

  1127. </P>
    1128. 

  1128. <P CLASS="western" STYLE="margin-bottom: 0in">Example: 
    1129. 

  1129. </P>
    1130. 

  1130. <P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
    1131. 

  1131. system you need to measure soil humidity, control pump and display
    1132. 

  1132. the results</P>
    1133. 

  1133. <P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
    1134. 

  1134. becomes a task:</P>
    1135. 

  1135. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1136. 

  1136. </P>
    1137. 

  1137. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1138. 

  1138. <B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, TASK_FOREVER,
    1139. 

  1139. &amp;measureCallback);<BR>Task <B>tWater</B>  
    1140. 

  1140. (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
    1141. 

  1141. <B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, TASK_FOREVER,
    1142. 

  1142. &amp;displayCallback); <BR></FONT></FONT><BR>
    1143. 

  1143. </P>
    1144. 

  1144. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1145. 

  1145. </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>
    1146. 

  1146. </P>
    1147. 

  1147. <P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
    1148. 

  1148. on the pump, you keep it running for TWATER_INTERVAL interval and
    1149. 

  1149. then turn it off. Turning off a pump is also a task which only needs
    1150. 

  1150. to run once for every time the pump is turned on:</P>
    1151. 

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

  1152. </P>
    1153. 

  1153. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1154. 

  1154. </FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
    1155. 

  1155. (WATERTIME*SECOND, TASK_ONCE,</FONT></FONT><FONT FACE="Courier New, monospace">
    1156. 

  1156. &amp;waterOffCallback);</FONT><BR><BR>
    1157. 

  1157. </P>
    1158. 

  1158. <P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
    1159. 

  1159. method:</P>
    1160. 

  1160. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1161. 

  1161. </P>
    1162. 

  1162. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1163. 

  1163. waterOffCallback() {<BR>    motorOff();<BR>   
    1164. 

  1164. tWater.enableDelayed();<BR>}</FONT></FONT></P>
    1165. 

  1165. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1166. 

  1166. </P>
    1167. 

  1167. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
    1168. 

  1168. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1169. 

  1169. </P>
    1170. 

  1170. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1171. 

  1171. waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
    1172. 

  1172. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1173. 

  1173. If this is not the last iteration = turn the pump on<BR>     
    1174. 

  1174. motorOn();<BR>      tWaterOff.set(parameters.watertime * TASK_SECOND,
    1175. 

  1175. TASK_ONCE, &amp;waterOffCallback);<BR>     
    1176. 

  1176. tWaterOff.enableDelayed();<BR>      return;<BR>    }</FONT></FONT></P>
    1177. 

  1177. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1178. 

  1178. We could not reach target humidity – something is wrong<BR>   
    1179. 

  1179. motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
    1180. 

  1180. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1181. 

  1181. </P>
    1182. 

  1182. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
    1183. 

  1183. sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
    1184. 

  1184. </P>
    1185. 

  1185. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1186. 

  1186. </B>please note that tWater is <B>not</B> activated during setup().
    1187. 

  1187. It is activated by tMeasure callback once the watering conditions are
    1188. 

  1188. met. </FONT>
    1189. 

  1189. </P>
    1190. 

  1190. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1191. 

  1191. </P>
    1192. 

  1192. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=2><FONT FACE="Times New Roman, serif">	void
    1193. 

  1193. </FONT><FONT FACE="Courier New, monospace">setup()</FONT></FONT></P>
    1194. 

  1194. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	
    1195. 

  1195.  ...</FONT></FONT></P>
    1196. 

  1196. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1197. 

  1197. <FONT SIZE=2><FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
    1198. 

  1198.  tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
    1199. 

  1199. taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
    1200. 

  1200. taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
    1201. 

  1201. taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
    1202. 

  1202. tDisplay.enable();<BR><BR>  currentHumidity =
    1203. 

  1203. measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
    1204. 

  1204. taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT></FONT><BR>
    1205. 

  1205. </P>
    1206. 

  1206. <OL START=2>
    1207. 

  1207. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in">“<FONT FACE="Times New Roman, serif"><B>NATIVE”
    1208. 

  1208. 	SUPPORT FOR FINITE STATE MACHINE</B></FONT></P>
    1209. 

  1209. </OL>
    1210. 

  1210. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1211. 

  1211. </P>
    1212. 

  1212. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
    1213. 

  1213. “states” as callback method or methods. Each callback method
    1214. 

  1214. executes activities specific to a “state” and then “transitions”
    1215. 

  1215. to the next state by assigning next callback method to the task. </FONT>
    1216. 

  1216. </P>
    1217. 

  1217. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
    1218. 

  1218. from one state to the next is achieved by setting next callback
    1219. 

  1219. method at the end of preceding one. </FONT>
    1220. 

  1220. </P>
    1221. 

  1221. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
    1222. 

  1222. </B>do not call the next callback method explicitly. Yield to the
    1223. 

  1223. scheduler, and let the scheduler take care of next iteration during
    1224. 

  1224. the next pass. (Thus giving other tasks change to run their callback
    1225. 

  1225. methods). </FONT>
    1226. 

  1226. </P>
    1227. 

  1227. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1228. 

  1228. </P>
    1229. 

  1229. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1230. 

  1230. Blinking LED 2 times a second could be achieved this way</FONT></P>
    1231. 

  1231. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1232. 

  1232. </P>
    1233. 

  1233. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1234. 

  1234. ts;</FONT></FONT></P>
    1235. 

  1235. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1236. 

  1236. tLedBlinker (500, TASK_FOREVER, &amp;ledOnCallback, &amp;ts, true);</FONT></FONT></P>
    1237. 

  1237. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1238. 

  1238. </P>
    1239. 

  1239. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1240. 

  1240.  ledOnCallback() {</FONT></FONT></P>
    1241. 

  1241. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOn();</FONT></FONT></P>
    1242. 

  1242. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOffCallback);</FONT></FONT></P>
    1243. 

  1243. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1244. 

  1244. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1245. 

  1245. </P>
    1246. 

  1246. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1247. 

  1247.  ledOffCallback() {</FONT></FONT></P>
    1248. 

  1248. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOff();</FONT></FONT></P>
    1249. 

  1249. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOnCallback);</FONT></FONT></P>
    1250. 

  1250. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1251. 

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

  1252. </P>
    1253. 

  1253. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>setup()
    1254. 

  1254. {</FONT></FONT></P>
    1255. 

  1255. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1256. 

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

  1257. </P>
    1258. 

  1258. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>loop
    1259. 

  1259. () {</FONT></FONT></P>
    1260. 

  1260. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	ts.execute();</FONT></FONT></P>
    1261. 

  1261. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
    1262. 

  1262. </P>
    1263. 

  1263. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
    1264. 

  1264. the example is simple, but gives the idea of how the tasks could be
    1265. 

  1265. used to go through states.</FONT></P>
    1266. 

  1266. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1267. 

  1267. </P>
    1268. 

  1268. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1269. 

  1269. </P>
    1270. 

  1270. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1271. 

  1271. </P>
    1272. 

  1272. <OL START=3>
    1273. 

  1273. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>MULTIPLE
    1274. 

  1274. 	POSSIBLE CALLBACKS FOR TASK</B></FONT></P>
    1275. 

  1275. </OL>
    1276. 

  1276. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1277. 

  1277. </P>
    1278. 

  1278. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
    1279. 

  1279. may be a need to select an option for callback method based on
    1280. 

  1280. certain criteria, or randomly. </FONT>
    1281. 

  1281. </P>
    1282. 

  1282. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1283. 

  1283. can achieve that by defining an array of callback method pointers and
    1284. 

  1284. selecting one based on the criteria you need. </FONT>
    1285. 

  1285. </P>
    1286. 

  1286. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
    1287. 

  1287. when a robot detects an obstacle, it may go left, right backwards,
    1288. 

  1288. etc. Each of the “directions” or “behaviors” are represented
    1289. 

  1289. by a different callback methods. </FONT>
    1290. 

  1290. </P>
    1291. 

  1291. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1292. 

  1292. </P>
    1293. 

  1293. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
    1294. 

  1294. example of using multiple callbacks:</FONT></P>
    1295. 

  1295. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
    1296. 

  1296. may need to “initialize” variables for a particular task.</FONT></P>
    1297. 

  1297. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1298. 

  1298. this case, define a tasks with two callbacks:</FONT></P>
    1299. 

  1299. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1300. 

  1300. </P>
    1301. 

  1301. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1302. 

  1302. <B>tWork</B> (T_INTERVAL, TASK_FOREVER, &amp;workCallbackInit);</FONT></FONT></P>
    1303. 

  1303. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">…</P>
    1304. 

  1304. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1305. 

  1305. </P>
    1306. 

  1306. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1307. 

  1307.  workCallbackInit() {</FONT></FONT></P>
    1308. 

  1308. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1309. 

  1309. do your initializationstuff here</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"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1312. 

  1312. finally assigne the main callback method </FONT></FONT>
    1313. 

  1313. </P>
    1314. 

  1314. <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>
    1315. 

  1315. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1316. 

  1316. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1317. 

  1317. </P>
    1318. 

  1318. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1319. 

  1319. workCallback() {</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. main callback method</FONT></FONT></P>
    1322. 

  1322. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</FONT></FONT></P>
    1323. 

  1323. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1324. 

  1324. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1325. 

  1325. </P>
    1326. 

  1326. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1327. 

  1327. task will initialize during first execution pass and switch to
    1328. 

  1328. “regular” callback execution starting with second pass. There is
    1329. 

  1329. a delay between first and second passes of the task (scheduling
    1330. 

  1330. period, if defined). In order to execute the second pass immediately
    1331. 

  1331. after initialization first pass, change the above code like this:</FONT></P>
    1332. 

  1332. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1333. 

  1333. </P>
    1334. 

  1334. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1335. 

  1335.  workCallbackInit() {</FONT></FONT></P>
    1336. 

  1336. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1337. 

  1337. do your initializationstuff here</FONT></FONT></P>
    1338. 

  1338. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
    1339. 

  1339. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
    1340. 

  1340. finally assigne the main callback method </FONT></FONT>
    1341. 

  1341. </P>
    1342. 

  1342. <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>
    1343. 

  1343. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
    1344. 

  1344. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1345. 

  1345. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1346. 

  1346. </P>
    1347. 

  1347. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
    1348. 

  1348. task will run initialization first, then immediately second pass, and
    1349. 

  1349. then switch to processing at regular intervals starting with a third
    1350. 

  1350. pass. </FONT>
    1351. 

  1351. </P>
    1352. 

  1352. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1353. 

  1353. </P>
    1354. 

  1354. <OL START=3>
    1355. 

  1355. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN
    1356. 

  1356. 	EXECUTION SUPPORT </B></FONT>
    1357. 

  1357. 	</P>
    1358. 

  1358. </OL>
    1359. 

  1359. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1360. 

  1360. </P>
    1361. 

  1361. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
    1362. 

  1362. case of interrupt-driven program flow, tasks could be scheduled to
    1363. 

  1363. run once to request asynchronous execution (request), and then
    1364. 

  1364. re-enabled (restarted) again with a different callback method to
    1365. 

  1365. process the results. </FONT>
    1366. 

  1366. </P>
    1367. 

  1367. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1368. 

  1368. </P>
    1369. 

  1369. <P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Example</B>:
    1370. 

  1370. event driven distance calculation for ultrasonic pulses. EchoPin #6
    1371. 

  1371. triggers pin change interrupts on rising and falling edges to
    1372. 

  1372. determine the length of ultrasonic pulse.</FONT></P>
    1373. 

  1373. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1374. 

  1374. </P>
    1375. 

  1375. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1376. 

  1376. &lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
    1377. 

  1377. &lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
    1378. 

  1378. ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
    1379. 

  1379. pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
    1380. 

  1380. r;<BR><BR>Task  tMeasure(TASK_SECOND, TASK_FOREVER, &amp;measureCallback,
    1381. 

  1381. &amp;r, true);<BR>Task  tDisplay(TASK_SECOND, TASK_FOREVER,
    1382. 

  1382. &amp;displayCallback, &amp;r, true);<BR>Task  tPing(TASK_IMMEDIATE,
    1383. 

  1383. TASK_ONCE, &amp;pingCalcCallback, &amp;r, false);<BR><BR><BR>volatile
    1384. 

  1384. bool pulseBusy = false;<BR>volatile bool pulseTimeout =
    1385. 

  1385. false;<BR>volatile unsigned long pulseStart = 0;<BR>volatile unsigned
    1386. 

  1386. long pulseStop = 0;<BR>volatile unsigned long pingDistance =
    1387. 

  1387. 0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout) {<BR>  if
    1388. 

  1388. (pulseBusy) return;  // do not trigger if in the middle of a pulse<BR>
    1389. 

  1389.  if (pEcho == HIGH) return; // do not trigger if ECHO pin is high<BR>
    1390. 

  1390.  <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
    1391. 

  1391. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
    1392. 

  1392.  pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
    1393. 

  1393.  tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
    1394. 

  1394. pTrigger = LOW; <BR></FONT></FONT><BR>
    1395. 

  1395. </P>
    1396. 

  1396. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1397. 

  1397. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
    1398. 

  1398. // timeout countdown starts now<BR></FONT></FONT><BR>
    1399. 

  1399. </P>
    1400. 

  1400. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1401. 

  1401. will start the pulse clock on the rising edge of ECHO pin</FONT></FONT></P>
    1402. 

  1402. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1403. 

  1403. <FONT FACE="Courier New, monospace"><FONT SIZE=2>PCintPort::attachInterrupt(ECHOPIN,
    1404. 

  1404. &amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
    1405. 

  1405. </P>
    1406. 

  1406. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1407. 

  1407. Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
    1408. 

  1408. pingStartClock() {<BR>  pulseStart = micros();<BR> 
    1409. 

  1409. PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
    1410. 

  1410.  PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
    1411. 

  1411.  tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
    1412. 

  1412. edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
    1413. 

  1413. = micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
    1414. 

  1414. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1415. 

  1415. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
    1416. 

  1416. pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
    1417. 

  1417. // disable timeout<BR>}<BR></FONT></FONT><BR>
    1418. 

  1418. </P>
    1419. 

  1419. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1420. 

  1420. Stop clock because of the timeout – the wave did not return<BR>void
    1421. 

  1421. pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
    1422. 

  1422.  }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
    1423. 

  1423. callback sets the trigger<BR>void measureCallback() {<BR>  if
    1424. 

  1424. (pulseBusy) {  // already measuring, try again<BR>   
    1425. 

  1425. tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
    1426. 

  1426. milliseconds or max range of ~5.1 meters<BR> 
    1427. 

  1427. tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
    1428. 

  1428. </P>
    1429. 

  1429. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1430. 

  1430. Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
    1431. 

  1431. (pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
    1432. 

  1432. <BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
    1433. 

  1433.  char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
    1434. 

  1434. // cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
    1435. 

  1435. %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
    1436. 

  1436. cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
    1437. 

  1437. put your setup code here, to run once:<BR>  <BR> 
    1438. 

  1438. Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
    1439. 

  1439. LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
    1440. 

  1440. to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
    1441. 

  1441. </P>
    1442. 

  1442. <OL START=3>
    1443. 

  1443. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1444. 

  1444. 	ONENABLE AND ONDISBALE METHODS </B></FONT>
    1445. 

  1445. 	</P>
    1446. 

  1446. </OL>
    1447. 

  1447. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    1448. 

  1448. </P>
    1449. 

  1449. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
    1450. 

  1450. a task to flash onboard LED for 5 seconds with random frequency. Task
    1451. 

  1451. should be repeated every 30 seconds indefinitely. Since frequency is
    1452. 

  1452. random, there are two challenges:</FONT></P>
    1453. 

  1453. <OL START=3>
    1454. 

  1454. 	<OL>
    1455. 

  1455. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1456. 

  1456. 		need to make sure LED is turned OFF at the last iteration</FONT></P>
    1457. 

  1457. 		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
    1458. 

  1458. 		need to calculate random frequency every time</FONT></P>
    1459. 

  1459. 	</OL>
    1460. 

  1460. </OL>
    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="Times New Roman, serif">Below
    1464. 

  1464. is the implementation using TaskScheduler </FONT>
    1465. 

  1465. </P>
    1466. 

  1466. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1467. 

  1467. </P>
    1468. 

  1468. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR></FONT></FONT><BR>
    1469. 

  1469. </P>
    1470. 

  1470. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1471. 

  1471. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1472. 

  1472. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1473. 

  1473. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1474. 

  1474. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1475. 

  1475. </P>
    1476. 

  1476. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1477. 

  1477.  LEDPIN    13</FONT></FONT></P>
    1478. 

  1478. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1479. 

  1479. </P>
    1480. 

  1480. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1481. 

  1481. </P>
    1482. 

  1482. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1483. 

  1483. ts;</FONT></FONT></P>
    1484. 

  1484. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1485. 

  1485. </P>
    1486. 

  1486. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1487. 

  1487. tWrapper(30000, TASK_FOREVER, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
    1488. 

  1488. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1489. 

  1489. tBlink(5000, TASK_ONCE, NULL, &amp;ts, false, &amp;BlinkOnEnable,
    1490. 

  1490. &amp;BlinkOnDisable);</FONT></FONT></P>
    1491. 

  1491. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1492. 

  1492. tLED(TASK_IMMEDIATE, TASK_FOREVER, NULL, &amp;ts, false, NULL,
    1493. 

  1493. &amp;LEDOff);</FONT></FONT></P>
    1494. 

  1494. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1495. 

  1495. </P>
    1496. 

  1496. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1497. 

  1497. WrapperCallback() {</FONT></FONT></P>
    1498. 

  1498. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1499. 

  1499. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1500. 

  1500. WrapperCallback&quot;);</FONT></FONT></P>
    1501. 

  1501. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1502. 

  1502. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
    1503. 

  1503.   // LED blinking  is initiated </FONT></FONT>
    1504. 

  1504. </P>
    1505. 

  1505. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1506. 

  1506.             <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
    1507. 

  1507. 30 seconds for 5 seconds</FONT></FONT></P>
    1508. 

  1508. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1509. 

  1509. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1510. 

  1510. </P>
    1511. 

  1511. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1512. 

  1512. </P>
    1513. 

  1513. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1514. 

  1514. Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
    1515. 

  1515. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1516. 

  1516. and enable LED blinking task, which actually controls</FONT></FONT></P>
    1517. 

  1517. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1518. 

  1518. the hardware (LED in this example)</FONT></FONT></P>
    1519. 

  1519. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1520. 

  1520. BlinkOnEnable() {</FONT></FONT></P>
    1521. 

  1521. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1522. 

  1522. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1523. 

  1523. BlinkOnEnable&quot;);</FONT></FONT></P>
    1524. 

  1524. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1525. 

  1525. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
    1526. 

  1526. 500 + random(501) );</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>tLED.setCallback(
    1529. 

  1529. &amp;LEDOn);</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>tLED.enable();</FONT></FONT></P>
    1532. 

  1532. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1533. 

  1533. </P>
    1534. 

  1534. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1535. 

  1535. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
    1536. 

  1536. Task should be enabled</FONT></FONT></P>
    1537. 

  1537. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1538. 

  1538. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1539. 

  1539. </P>
    1540. 

  1540. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1541. 

  1541. tBlink does not really need a callback method</FONT></FONT></P>
    1542. 

  1542. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1543. 

  1543. since it just waits for 5 seconds for the first </FONT></FONT>
    1544. 

  1544. </P>
    1545. 

  1545. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1546. 

  1546. and only iteration to occur. Once the iteration</FONT></FONT></P>
    1547. 

  1547. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1548. 

  1548. takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
    1549. 

  1549. </P>
    1550. 

  1550. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1551. 

  1551. thus executing its OnDisable method below.</FONT></FONT></P>
    1552. 

  1552. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1553. 

  1553. </P>
    1554. 

  1554. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1555. 

  1555. BlinkOnDisable() {</FONT></FONT></P>
    1556. 

  1556. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1557. 

  1557. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1558. 

  1558. BlinkOnDisable&quot;);</FONT></FONT></P>
    1559. 

  1559. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1560. 

  1560. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
    1561. 

  1561. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></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. LEDOn () {</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;In
    1568. 

  1568. LEDOn&quot;);</FONT></FONT></P>
    1569. 

  1569. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1570. 

  1570. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1571. 

  1571. HIGH);</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>tLED.setCallback(
    1574. 

  1574. &amp;LEDOff);</FONT></FONT></P>
    1575. 

  1575. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1576. 

  1576. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1577. 

  1577. </P>
    1578. 

  1578. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1579. 

  1579. LEDOff () {</FONT></FONT></P>
    1580. 

  1580. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1581. 

  1581. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
    1582. 

  1582. LEDOff&quot;);</FONT></FONT></P>
    1583. 

  1583. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1584. 

  1584. <FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
    1585. 

  1585. LOW);</FONT></FONT></P>
    1586. 

  1586. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1587. 

  1587. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
    1588. 

  1588. &amp;LEDOn);</FONT></FONT></P>
    1589. 

  1589. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1590. 

  1590. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1591. 

  1591. </P>
    1592. 

  1592. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1593. 

  1593. Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
    1594. 

  1594. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1595. 

  1595. to make sure the LED is turned off when the tBlink</FONT></FONT></P>
    1596. 

  1596. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    1597. 

  1597. task finishes (or disabled ahead of time)</FONT></FONT></P>
    1598. 

  1598. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1599. 

  1599. </P>
    1600. 

  1600. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1601. 

  1601. setup() {</FONT></FONT></P>
    1602. 

  1602. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1603. 

  1603. </P>
    1604. 

  1604. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1605. 

  1605. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
    1606. 

  1606. </FONT></FONT>
    1607. 

  1607. </P>
    1608. 

  1608. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1609. 

  1609. <FONT FACE="Courier New, monospace"><FONT SIZE=2>pinMode(LEDPIN,
    1610. 

  1610. OUTPUT); </FONT></FONT>
    1611. 

  1611. </P>
    1612. 

  1612. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1613. 

  1613. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1614. 

  1614. </P>
    1615. 

  1615. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1616. 

  1616. loop() {</FONT></FONT></P>
    1617. 

  1617. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1618. 

  1618. <FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
    1619. 

  1619. code here, to run repeatedly:</FONT></FONT></P>
    1620. 

  1620. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1621. 

  1621. </P>
    1622. 

  1622. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1623. 

  1623. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    1624. 

  1624. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1625. 

  1625. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1626. 

  1626. </P>
    1627. 

  1627. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1628. 

  1628. </P>
    1629. 

  1629. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1630. 

  1630. </P>
    1631. 

  1631. <OL START=3>
    1632. 

  1632. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    1633. 

  1633. 	STATUS REQUEST OBJECTS  </B></FONT>
    1634. 

  1634. 	</P>
    1635. 

  1635. </OL>
    1636. 

  1636. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1637. 

  1637. </P>
    1638. 

  1638. <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
    1639. 

  1639. test emulates querying 3 sensors once every 10 seconds, each could
    1640. 

  1640. respond with a different delay (ultrasonic sensors for instance) and
    1641. 

  1641. printing a min value of the three when all three have reported their
    1642. 

  1642. values.</FONT></FONT></P>
    1643. 

  1643. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1644. 

  1644. </P>
    1645. 

  1645. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">The
    1646. 

  1646. overall timeout of 1 second is setup as well.</FONT></FONT></P>
    1647. 

  1647. <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
    1648. 

  1648. error message needs to be printed if a timeout occurred instead of a
    1649. 

  1649. value.</FONT></FONT></P>
    1650. 

  1650. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1651. 

  1651. </P>
    1652. 

  1652. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1653. 

  1653. </P>
    1654. 

  1654. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1655. 

  1655. _TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
    1656. 

  1656. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
    1657. 

  1657. _TASK_STATUS_REQUEST</FONT></FONT></P>
    1658. 

  1658. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1659. 

  1659. </P>
    1660. 

  1660. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
    1661. 

  1661. &lt;TaskScheduler.h&gt;</FONT></FONT></P>
    1662. 

  1662. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1663. 

  1663. </P>
    1664. 

  1664. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
    1665. 

  1665. measure;</FONT></FONT></P>
    1666. 

  1666. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1667. 

  1667. </P>
    1668. 

  1668. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
    1669. 

  1669. ts; </FONT></FONT>
    1670. 

  1670. </P>
    1671. 

  1671. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1672. 

  1672. </P>
    1673. 

  1673. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1674. 

  1674. tCycle(10000, TASK_FOREVER, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
    1675. 

  1675. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1676. 

  1676. tMeasure(TASK_SECOND, TASK_ONCE, &amp;MeasureCallback, &amp;ts,
    1677. 

  1677. false, &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
    1678. 

  1678. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1679. 

  1679. tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
    1680. 

  1680. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1681. 

  1681. tSensor1(TASK_IMMEDIATE, TASK_ONCE, &amp;S1Callback, &amp;ts, false,
    1682. 

  1682. &amp;S1Enable);</FONT></FONT></P>
    1683. 

  1683. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1684. 

  1684. tSensor2(TASK_IMMEDIATE, TASK_ONCE, &amp;S2Callback, &amp;ts, false,
    1685. 

  1685. &amp;S2Enable);</FONT></FONT></P>
    1686. 

  1686. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
    1687. 

  1687. tSensor3(TASK_IMMEDIATE, TASK_ONCE, &amp;S3Callback, &amp;ts, false,
    1688. 

  1688. &amp;S3Enable);</FONT></FONT></P>
    1689. 

  1689. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1690. 

  1690. </P>
    1691. 

  1691. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1692. 

  1692. </P>
    1693. 

  1693. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
    1694. 

  1694. distance, d1, d2, d3;</FONT></FONT></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>void
    1698. 

  1698. CycleCallback() {</FONT></FONT></P>
    1699. 

  1699. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1700. 

  1700. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
    1701. 

  1701. Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></P>
    1702. 

  1702. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1703. 

  1703. </P>
    1704. 

  1704. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1705. 

  1705. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
    1706. 

  1706. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1707. 

  1707. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    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"><BR>
    1712. 

  1712. </P>
    1713. 

  1713. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1714. 

  1714. MeasureEnable() {</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>Serial.println(&quot;MeasureEnable:
    1717. 

  1717. Activating sensors&quot;);  </FONT></FONT>
    1718. 

  1718. </P>
    1719. 

  1719. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1720. 

  1720. </P>
    1721. 

  1721. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1722. 

  1722. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</FONT></FONT></P>
    1723. 

  1723. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1724. 

  1724. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.setWaiting(3);
    1725. 

  1725. // Set the StatusRequest to wait for 3 signals. </FONT></FONT>
    1726. 

  1726. </P>
    1727. 

  1727. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1728. 

  1728. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
    1729. 

  1729. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1730. 

  1730. </P>
    1731. 

  1731. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1732. 

  1732. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
    1733. 

  1733. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1734. 

  1734. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
    1735. 

  1735. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1736. 

  1736. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</FONT></FONT></P>
    1737. 

  1737. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1738. 

  1738. </P>
    1739. 

  1739. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1740. 

  1740. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1741. 

  1741. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1742. 

  1742. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1743. 

  1743. </P>
    1744. 

  1744. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1745. 

  1745. MeasureCallback() {</FONT></FONT></P>
    1746. 

  1746. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1747. 

  1747. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    1748. 

  1748. Invoked by calculate task or one second later&quot;);  </FONT></FONT>
    1749. 

  1749. </P>
    1750. 

  1750. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1751. 

  1751. </P>
    1752. 

  1752. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1753. 

  1753. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if
    1754. 

  1754. (measure.pending()) {</FONT></FONT></P>
    1755. 

  1755. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1756. 

  1756.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
    1757. 

  1757. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1758. 

  1758.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
    1759. 

  1759.  // signal error</FONT></FONT></P>
    1760. 

  1760. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1761. 

  1761.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
    1762. 

  1762. Timeout!&quot;);</FONT></FONT></P>
    1763. 

  1763. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1764. 

  1764. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1765. 

  1765. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1766. 

  1766. <FONT FACE="Courier New, monospace"><FONT SIZE=2>else {</FONT></FONT></P>
    1767. 

  1767. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1768. 

  1768.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
    1769. 

  1769. Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
    1770. 

  1770. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1771. 

  1771. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1772. 

  1772. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1773. 

  1773. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1774. 

  1774. </P>
    1775. 

  1775. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1776. 

  1776. MeasureDisable() {</FONT></FONT></P>
    1777. 

  1777. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1778. 

  1778. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
    1779. 

  1779. Cleaning up&quot;);  </FONT></FONT>
    1780. 

  1780. </P>
    1781. 

  1781. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1782. 

  1782. </P>
    1783. 

  1783. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1784. 

  1784. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</FONT></FONT></P>
    1785. 

  1785. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1786. 

  1786. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.disable();</FONT></FONT></P>
    1787. 

  1787. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1788. 

  1788. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
    1789. 

  1789. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1790. 

  1790. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1791. 

  1791. </P>
    1792. 

  1792. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1793. 

  1793. </P>
    1794. 

  1794. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1795. 

  1795. CalcCallback() {</FONT></FONT></P>
    1796. 

  1796. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1797. 

  1797. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
    1798. 

  1798. calculating&quot;);  </FONT></FONT>
    1799. 

  1799. </P>
    1800. 

  1800. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1801. 

  1801. <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
    1802. 

  1802. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1803. 

  1803. <FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
    1804. 

  1804. measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
    1805. 

  1805. ended successfully</FONT></FONT></P>
    1806. 

  1806. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1807. 

  1807.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d1 &lt;
    1808. 

  1808. d2 ? d1 : d2;</FONT></FONT></P>
    1809. 

  1809. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1810. 

  1810.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
    1811. 

  1811. distance ? d3 : distance;</FONT></FONT></P>
    1812. 

  1812. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1813. 

  1813.  <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</FONT></FONT></P>
    1814. 

  1814. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1815. 

  1815. <FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1816. 

  1816. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1817. 

  1817. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1818. 

  1818. </P>
    1819. 

  1819. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1820. 

  1820. </P>
    1821. 

  1821. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1822. 

  1822. Simulation code for sensor 1</FONT></FONT></P>
    1823. 

  1823. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1824. 

  1824.  ----------------------------</FONT></FONT></P>
    1825. 

  1825. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1826. 

  1826. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1827. 

  1827. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1828. 

  1828. S1Enable() {</FONT></FONT></P>
    1829. 

  1829. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1830. 

  1830. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
    1831. 

  1831. Triggering sensor1. Delay=&quot;);  </FONT></FONT>
    1832. 

  1832. </P>
    1833. 

  1833. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1834. 

  1834. </P>
    1835. 

  1835. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1836. 

  1836. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
    1837. 

  1837. random(1200) );  // Simulating sensor delay, which could go over 1
    1838. 

  1838. second and cause timeout</FONT></FONT></P>
    1839. 

  1839. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1840. 

  1840. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
    1841. 

  1841. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1842. 

  1842. </P>
    1843. 

  1843. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1844. 

  1844. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1845. 

  1845. tSensor1.getInterval() );</FONT></FONT></P>
    1846. 

  1846. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1847. 

  1847. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1848. 

  1848. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1849. 

  1849. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1850. 

  1850. </P>
    1851. 

  1851. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1852. 

  1852. S1Callback() {</FONT></FONT></P>
    1853. 

  1853. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1854. 

  1854. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
    1855. 

  1855. Emulating measurement. d1=&quot;);  </FONT></FONT>
    1856. 

  1856. </P>
    1857. 

  1857. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1858. 

  1858. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
    1859. 

  1859. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1860. 

  1860. measurement </FONT></FONT>
    1861. 

  1861. </P>
    1862. 

  1862. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1863. 

  1863. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1864. 

  1864. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1865. 

  1865. </P>
    1866. 

  1866. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1867. 

  1867. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d1); </FONT></FONT>
    1868. 

  1868. </P>
    1869. 

  1869. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1870. 

  1870. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1871. 

  1871. </P>
    1872. 

  1872. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1873. 

  1873. </P>
    1874. 

  1874. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1875. 

  1875. Simulation code for sensor 2</FONT></FONT></P>
    1876. 

  1876. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1877. 

  1877.  ----------------------------</FONT></FONT></P>
    1878. 

  1878. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1879. 

  1879. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1880. 

  1880. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1881. 

  1881. S2Enable() {</FONT></FONT></P>
    1882. 

  1882. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1883. 

  1883. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
    1884. 

  1884. Triggering sensor2. Delay=&quot;);  </FONT></FONT>
    1885. 

  1885. </P>
    1886. 

  1886. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1887. 

  1887. </P>
    1888. 

  1888. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1889. 

  1889. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
    1890. 

  1890. random(1200) );  // Simulating sensor delay, which could go over 1
    1891. 

  1891. second and cause timeout</FONT></FONT></P>
    1892. 

  1892. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1893. 

  1893. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</FONT></FONT></P>
    1894. 

  1894. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1895. 

  1895. </P>
    1896. 

  1896. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1897. 

  1897. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1898. 

  1898. tSensor2.getInterval() );</FONT></FONT></P>
    1899. 

  1899. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1900. 

  1900. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1901. 

  1901. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1902. 

  1902. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1903. 

  1903. </P>
    1904. 

  1904. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1905. 

  1905. S2Callback() {</FONT></FONT></P>
    1906. 

  1906. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1907. 

  1907. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
    1908. 

  1908. Emulating measurement. d2=&quot;);  </FONT></FONT>
    1909. 

  1909. </P>
    1910. 

  1910. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1911. 

  1911. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
    1912. 

  1912. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1913. 

  1913. measurement</FONT></FONT></P>
    1914. 

  1914. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1915. 

  1915. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1916. 

  1916. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1917. 

  1917. </P>
    1918. 

  1918. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1919. 

  1919. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d2); 
    1920. 

  1920. </FONT></FONT>
    1921. 

  1921. </P>
    1922. 

  1922. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1923. 

  1923. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1924. 

  1924. </P>
    1925. 

  1925. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1926. 

  1926. </P>
    1927. 

  1927. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1928. 

  1928. Simulation code for sensor 3</FONT></FONT></P>
    1929. 

  1929. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1930. 

  1930.  ----------------------------</FONT></FONT></P>
    1931. 

  1931. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1932. 

  1932. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1933. 

  1933. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
    1934. 

  1934. S3Enable() {</FONT></FONT></P>
    1935. 

  1935. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1936. 

  1936. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
    1937. 

  1937. Triggering sensor3. Delay=&quot;);  </FONT></FONT>
    1938. 

  1938. </P>
    1939. 

  1939. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1940. 

  1940. </P>
    1941. 

  1941. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1942. 

  1942. <FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
    1943. 

  1943. random(1200) );  // Simulating sensor delay, which could go over 1
    1944. 

  1944. second and cause timeout</FONT></FONT></P>
    1945. 

  1945. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1946. 

  1946. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></P>
    1947. 

  1947. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1948. 

  1948. </P>
    1949. 

  1949. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1950. 

  1950. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
    1951. 

  1951. tSensor3.getInterval() );</FONT></FONT></P>
    1952. 

  1952. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1953. 

  1953. <FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
    1954. 

  1954. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1955. 

  1955. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1956. 

  1956. </P>
    1957. 

  1957. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1958. 

  1958. S3Callback() {</FONT></FONT></P>
    1959. 

  1959. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1960. 

  1960. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
    1961. 

  1961. Emulating measurement. d3=&quot;);  </FONT></FONT>
    1962. 

  1962. </P>
    1963. 

  1963. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1964. 

  1964. <FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
    1965. 

  1965. pick a value from 0 to 500 &quot;centimeters&quot; simulating a
    1966. 

  1966. measurement</FONT></FONT></P>
    1967. 

  1967. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1968. 

  1968. <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
    1969. 

  1969. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
    1970. 

  1970. </P>
    1971. 

  1971. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1972. 

  1972. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d3); </FONT></FONT>
    1973. 

  1973. </P>
    1974. 

  1974. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1975. 

  1975. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1976. 

  1976. </P>
    1977. 

  1977. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1978. 

  1978. </P>
    1979. 

  1979. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
    1980. 

  1980. Main Arduino code</FONT></FONT></P>
    1981. 

  1981. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
    1982. 

  1982.  Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
    1983. 

  1983. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
    1984. 

  1984. <FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
    1985. 

  1985. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    1986. 

  1986. setup() {</FONT></FONT></P>
    1987. 

  1987. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1988. 

  1988. </P>
    1989. 

  1989. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1990. 

  1990. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</FONT></FONT></P>
    1991. 

  1991. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1992. 

  1992. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;TaskScheduler
    1993. 

  1993. StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
    1994. 

  1994. </P>
    1995. 

  1995. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    1996. 

  1996. <FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
    1997. 

  1997. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    1998. 

  1998. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    1999. 

  1999. </P>
    2000. 

  2000. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2001. 

  2001. loop() {</FONT></FONT></P>
    2002. 

  2002. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
    2003. 

  2003. <FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
    2004. 

  2004. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2005. 

  2005. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2006. 

  2006. </P>
    2007. 

  2007. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2008. 

  2008. </P>
    2009. 

  2009. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2010. 

  2010. </P>
    2011. 

  2011. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2012. 

  2012. </P>
    2013. 

  2013. <OL START=3>
    2014. 

  2014. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>USING
    2015. 

  2015. 	LOCAL TASK STORAGE POINTER  </B></FONT>
    2016. 

  2016. 	</P>
    2017. 

  2017. </OL>
    2018. 

  2018. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2019. 

  2019. </P>
    2020. 

  2020. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Tasks
    2021. 

  2021. can store a pointer to specific variable, structure or array, which
    2022. 

  2022. represents variables specific for a particular task. This may be
    2023. 

  2023. needed if you plan to use same callback method for multiple tasks.</FONT></FONT></P>
    2024. 

  2024. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Consider
    2025. 

  2025. a scenario where you have several sensors of the same type. The
    2026. 

  2026. actual process of triggering measurement and collecting information
    2027. 

  2027. is identical. The only difference is the sensor address and a
    2028. 

  2028. variable for storing the results.  </FONT></FONT>
    2029. 

  2029. </P>
    2030. 

  2030. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">In
    2031. 

  2031. this case each of the tasks, which performs measurement will utilize
    2032. 

  2032. the same callback methods. The only difference will be the variables
    2033. 

  2033. (specific for each of the sensor). </FONT></FONT>
    2034. 

  2034. </P>
    2035. 

  2035. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2036. 

  2036. </P>
    2037. 

  2037. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Let's
    2038. 

  2038. define a sensor data structure and declare a couple of variables (for
    2039. 

  2039. 2 sensors for instance)</FONT></FONT></P>
    2040. 

  2040. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2041. 

  2041. </P>
    2042. 

  2042. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2043. 

  2043. <FONT FACE="Courier New, monospace"><FONT SIZE=2>typedef struct {</FONT></FONT></P>
    2044. 

  2044. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2045. 

  2045. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned int
    2046. 

  2046. 	address;</FONT></FONT></P>
    2047. 

  2047. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2048. 

  2048. <FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned
    2049. 

  2049. long	distance;</FONT></FONT></P>
    2050. 

  2050. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2051. 

  2051. <FONT FACE="Courier New, monospace"><FONT SIZE=2>} sensor_data;</FONT></FONT></P>
    2052. 

  2052. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2053. 

  2053. <BR>
    2054. 

  2054. </P>
    2055. 

  2055. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2056. 

  2056. <FONT FACE="Courier New, monospace"><FONT SIZE=2>sensor_data s1, s2; </FONT></FONT>
    2057. 

  2057. </P>
    2058. 

  2058. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2059. 

  2059. </P>
    2060. 

  2060. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Two
    2061. 

  2061. separate tasks are running to collect sensor data.</FONT></FONT></P>
    2062. 

  2062. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">(Note
    2063. 

  2063. that both tasks refer to the same callback methods)</FONT></FONT></P>
    2064. 

  2064. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2065. 

  2065. </P>
    2066. 

  2066. <P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
    2067. 

  2067. <FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler ts;</FONT></FONT></P>
    2068. 

  2068. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2069. 

  2069. t1(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2070. 

  2070. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2071. 

  2071. </P>
    2072. 

  2072. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
    2073. 

  2073. t2(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
    2074. 

  2074. false, &amp;MeasureOn); </SPAN></FONT></FONT>
    2075. 

  2075. </P>
    2076. 

  2076. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2077. 

  2077. </P>
    2078. 

  2078. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Assign
    2079. 

  2079. pointers to the respective variables in the <B>setup</B>() method:</FONT></FONT></P>
    2080. 

  2080. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2081. 

  2081. </P>
    2082. 

  2082. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2083. 

  2083. setup() {</FONT></FONT></P>
    2084. 

  2084. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2085. 

  2085. </P>
    2086. 

  2086. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
    2087. 

  2087. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t1.setLtsPointer(&amp;s1);</FONT></FONT></P>
    2088. 

  2088. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t2.setLtsPointer(&amp;s2);</FONT></FONT></P>
    2089. 

  2089. <P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
    2090. 

  2090. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2091. 

  2091. </P>
    2092. 

  2092. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2093. 

  2093. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2094. 

  2094. </P>
    2095. 

  2095. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Obtain
    2096. 

  2096. reference to specific <B>sensor_data</B> structure inside the common
    2097. 

  2097. callback method:</FONT></FONT></P>
    2098. 

  2098. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2099. 

  2099. </P>
    2100. 

  2100. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
    2101. 

  2101. Measure() {</FONT></FONT></P>
    2102. 

  2102. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Task&amp;
    2103. 

  2103. T = ts.currentTask(); </FONT></FONT>
    2104. 

  2104. </P>
    2105. 

  2105. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2106. 

  2106. V = *((sensor_data*) T.getLtsPointer());</FONT></FONT></P>
    2107. 

  2107. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2108. 

  2108. For t1, V will be pointing at s1</FONT></FONT></P>
    2109. 

  2109. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2110. 

  2110. For t2, V will be pointing at s2</FONT></FONT></P>
    2111. 

  2111. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2112. 

  2112. </P>
    2113. 

  2113. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
    2114. 

  2114. Alternatively use the Scheduler method:</FONT></FONT></P>
    2115. 

  2115. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
    2116. 

  2116. V1 = *((sensor_data*) ts.currentLts());</FONT></FONT></P>
    2117. 

  2117. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2118. 

  2118. </P>
    2119. 

  2119. <P CLASS="western" STYLE="margin-left: 0.98in; text-indent: 0.49in; margin-bottom: 0in">
    2120. 

  2120. …</P>
    2121. 

  2121. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	V.distance
    2122. 

  2122. = &lt;calculate your values here&gt;;</FONT></FONT></P>
    2123. 

  2123. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
    2124. 

  2124. <P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
    2125. 

  2125. </P>
    2126. 

  2126. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2127. 

  2127. </P>
    2128. 

  2128. <OL START=3>
    2129. 

  2129. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>FUTHER
    2130. 

  2130. 	INFROMATION</B></FONT></P>
    2131. 

  2131. </OL>
    2132. 

  2132. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2133. 

  2133. </P>
    2134. 

  2134. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Please
    2135. 

  2135. refer to examples, provided with TaskScheduler package for further
    2136. 

  2136. information and implementation options.</FONT></FONT></P>
    2137. 

  2137. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
    2138. 

  2138. </P>
    2139. 

  2139. <P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Real
    2140. 

  2140. time examples of TaskScheduler are available here:</FONT></FONT></P>
    2141. 

  2141. <OL>
    2142. 

  2142. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/</FONT></A></U></FONT></P>
    2143. 

  2143. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/</FONT></A></U></FONT></P>
    2144. 

  2144. 	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider</FONT></A></U></FONT></P>
    2145. 

  2145. </OL>
    2146. 

  2146. <P CLASS="western" STYLE="margin-bottom: 0in"><BR>
    2147. 

  2147. </P>
    2148. 

  2148. </BODY>
    2149. 

  2149. </HTML>
    2150.