/*! Will start tasks as long as there are tasks to be run. If the tasks are of the one-shot type,
it just loops in here as long as it has tasks. If the task is event-based and needs us to
surrender control, it will surrender control but schedule the timer to come back here and
check on the task later.
*/
void TaskDispatcher::mainLoop()
{
if (mSensor->isScheduled()) {
mSensor->unschedule();
}
while(1){
if(mCurrentTask) {
checkCurrentTask();
}
if (mStatus == READY) {
startNewTask();
}
switch(mStatus) {
case DONE:
graspItGUI->exitMainLoop();
return;
case FAILED:
graspItGUI->exitMainLoop();
return;
case NO_TASK:
graspItGUI->exitMainLoop();
return;
case RUNNING:
mSensor->schedule();
return;
case READY:
break;
}
}
}
int UnixBusComm::startLinuxCameraTask (QString fullPath)
{
return startNewTask(fullPath);
}
int UnixBusComm::startImageServerTask (QString fullPath)
{
return startNewTask(fullPath);
}