Controller.cpp

00001 #include <iostream>
00002 
00003 #include "Controller.h"
00004 
00005 Controller::Controller(bool threaded = false, int interval_ms = 0) {
00006     this->threaded = threaded;
00007     this->interval_ms = interval_ms;
00008     this->ctrl_thread = 0;
00009     this->prio = osPriorityNormal;
00010     this->num_iters = 0;
00011 }
00012 
00013 bool Controller::isThreaded() {
00014     return this->threaded;    
00015 }
00016 
00017 void Controller::run() {
00018     if(!this->threaded) {
00019         this->update();    
00020     } else if(!this->has_spawned) {
00021         has_spawned = true; 
00022         Thread t (Controller::threadStub, this);
00023         this->ctrl_thread = &t;
00024     }
00025     
00026     this->num_iters++;
00027 }
00028 
00029 int Controller::getIntervalMs() {
00030     return this->interval_ms;    
00031 }
00032 
00033 void Controller::setPriority(osPriority priority) {
00034     this->prio = priority;
00035     if(this->has_spawned)
00036         this->ctrl_thread->set_priority(priority);
00037 }
00038 
00039 osPriority Controller::getPriority() {
00040     return this->prio;
00041 }    
00042 
00043 // Called when a thread is spawned.
00044 void Controller::threadStub(void const *args) {
00045     Controller *controller = (Controller*)args;
00046     
00047     // Run forever.
00048     while(1) {
00049         std::cout << "[THREAD] running " << controller->getName() << "\r\n";
00050         controller->run();
00051         Thread::wait(controller->getIntervalMs());
00052     }
00053     
00054 }