\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{rciBlock}{3}
\manSection{NAME}
{\tt \manName{rciBlock}}
-- wait for RCI task to execute once.
\manSection{USAGE}
\cverbatim
rciBlock(td)
   RCI_DESC *td; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt td} --}
Pointer to task descriptor.
\manSection{RESTRICTIONS}
This routine must be called from the planning level.
\manSection{DESCRIPTION}
This function
waits until the indicated control task executes one complete control
cycle.  It is used to synchronize the planning task with a control task.
{\tt rciBlock()} waits for a {\it full} cycle to complete:
if the control task is in the middle of a control cycle when the 
function is called, then it will wait until the end of the {\it next}
control cycle before returning.

The function returns immediately if the task is not active.
\manSection{DIAGNOSTICS}
The routine will abort the program if called from the control level.
\manSection{SEE ALSO}
\raggedright
{\tt rciCreate(3)}, {\tt rciStart(3)}.
\manEnd
\end
