int main()
{
ArSyncTask *task;
UserTaskTest test;
ArRobot robot;
ArFunctorC<UserTaskTest> userTaskOne(&test, &UserTaskTest::userTaskOne);
ArFunctorC<UserTaskTest> userTaskTwo(&test, &UserTaskTest::userTaskTwo);
ArFunctorC<UserTaskTest> userTaskThree(&test, &UserTaskTest::userTaskThree);
ArFunctorC<UserTaskTest> userTaskFour(&test, &UserTaskTest::userTaskFour);
printf("Before tasks added:\n");
robot.logUserTasks();
printf("---------------------------------------------------------------\n");
// the order you add tasks doesn't matter, it goes off of the integer
// you give the function call to add them
// Caveat: if you give the function call the same number it goes off of order
robot.addUserTask("procTwo", 20, &userTaskTwo);
robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
robot.addUserTask("procThree", 30, &userTaskThree);
robot.addUserTask("procOne", 10, &userTaskOne);
printf("After tasks added:\n");
robot.logUserTasks();
printf("---------------------------------------------------------------\n");
printf("What happens when these are run:\n");
robot.loopOnce();
printf("---------------------------------------------------------------\n");
printf("After tasks removed by name:\n");
printf("---------------------------------------------------------------\n");
robot.remUserTask("procOne");
robot.remUserTask("procTwo");
robot.remUserTask("procThree");
robot.remUserTask("procFour");
robot.logUserTasks();
printf("\nAfter they are added again, procThree is found by name and set to SUSPEND and procFour is found by functor and set to FAILURE:\n");
printf("---------------------------------------------------------------\n");
printf("---------------------------------------------------------------\n");
robot.addUserTask("procTwo", 20, &userTaskTwo);
robot.addUserTask("procFour", 40, &userTaskFour, &test.myTaskFourState);
robot.addUserTask("procThree", 30, &userTaskThree);
robot.addUserTask("procOne", 10, &userTaskOne);
task = robot.findUserTask("procThree");
if (task != NULL)
task->setState(ArTaskState::SUSPEND);
task = robot.findUserTask(&userTaskFour);
if (task != NULL)
task->setState(ArTaskState::FAILURE);
robot.logUserTasks();
task = robot.findUserTask(&userTaskFour);
if (task != NULL)
{
printf("---------------------------------------------------------------\n");
printf("Did the real state on procFourState get set:\n");
printf("getState: %d realState: %d\n", task->getState(),
test.myTaskFourState);
}
printf("---------------------------------------------------------------\n");
printf("What happens when these are run:\n");
robot.loopOnce();
printf("---------------------------------------------------------------\n");
printf("After tasks removed by functor:\n");
printf("---------------------------------------------------------------\n");
robot.remUserTask(&userTaskOne);
robot.remUserTask(&userTaskTwo);
robot.remUserTask(&userTaskThree);
robot.remUserTask(&userTaskFour);
robot.logUserTasks();
}
