Differences

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--- eeros_architecture:sequencer:subsequence [2015/10/30 10:02] – [Simple Example] graf
+++ eeros_architecture:sequencer:subsequence [2015/10/31 09:05] (current) – external edit 127.0.0.1
@@ Line 35: / Line 35: @@
   void run() {
     robot.moveXY(10, -20);
-    seqB(5);
+    sequenceB(5);
     robot.moveXY(-10, 30);
-    seqB(5);
+    sequenceB(5);
     robot.moveXY(0, 0);
   }
@@ Line 43: / Line 43: @@
 private:
   Robot& robot;
-  SequenceB seqB;
+  SequenceB sequenceB;
 };
 </code>
-In our main program we declare a sequencer for the main sequence. The same sequencer will also handle the subsequence. Sequence A and B do not run concurrently. The following figure shows the flow of action.
+In our main program we declare a sequencer for the main sequence. The same sequencer will also handle the subsequence. Sequence A and B do not run concurrently.
+<code cpp>
+int main() {
+  Sequencer sequencer;
+  SequenceA seqA("Seq A", &sequencer, robot);
+  sequencerA.start(&seqA);
+  sequencerA.join();
+};
+</code>
+The following figure shows the flow of action.
 {{ :eeros_architecture:sequencer:subsequenceblocking.png?400 |}}
 ===== Nonblocking Call of a Subsequence =====
@@ Line 62: / Line 71: @@
   void run() {
     robot.moveZ(5);
-    sleep();
+    sleep(3);
     yield();
     robot.moveZ(0);
@@ Line 83: / Line 92: @@
   void run() {
     robot.moveXY(10, -20);
-    seqB.start(0U);
+    sequencerB.start(0U);
-    robot.moveXY(-10, -30);
+    robot.moveXY(-10, 30);
-    seqB.join();
+    sequencerB.join();
     robot.moveXY(0, 0);
   }
@@ Line 91: / Line 100: @@
 private:
   Robot& robot;
-  Sequencer& seqB;
+  Sequencer& sequencerB;
 };
 </code>
@@ Line 106: / Line 115: @@
 </code>
+In the second step of the sequence A the sequence is started in its own thread. After this both run concurrently. The forth step of sequence A then waits for the sequence B to finish.
 The following figure shows the flow of action.
+{{ :eeros_architecture:sequencer:subsequencenonblocking.png?400 |}}