Task.h

00001 #ifndef Task_h
00002 #define Task_h
00003 
00004 #include "mbed.h"
00005 
00006 #define DEFAULT_INTERVAL 1000 //1ms
00007 
00008 /**
00009  * Override this class to create a Task that can be managed with the TaskManager.
00010  */
00011 class Task
00012 {
00013     
00014 public:
00015 
00016     /**
00017      * Contructor. Sets interval to default of 1ms.
00018      */
00019     Task();
00020     
00021     /**
00022      * Constructor.
00023      * @param _interval The running interval of the task in us.
00024      */
00025     Task(int _interval);
00026     
00027     /**
00028      * Starts the task. Should be automatically called from the TaskManager when it is added.
00029      */
00030     void start();
00031     
00032     /**
00033      * Virtual method which gets called at the specified interval.
00034      */
00035     virtual void tick() = 0;
00036     
00037     /**
00038      * Stops the task from running
00039      */
00040     void stop();
00041     
00042     /**
00043      * Returns true if the task is running.
00044      */
00045     bool isRunning() { return running; }
00046     
00047 
00048 protected:
00049 
00050     /**
00051      * Set the interval that the task tick method runs.
00052      * @_interval Interval in us.
00053      */
00054     void setInterval(int _interval) { interval = _interval; }
00055 
00056     
00057 private:
00058 
00059     Ticker ticker;
00060     int interval;
00061     bool running;
00062     
00063     void preTick();
00064 
00065 };
00066 
00067 #endif