rciBlock(3)

NAME
rciBlock -- wait for RCI task to execute once.

USAGE
rciBlock(td)
   RCI_DESC *td;

ARGUMENTS

td --
    Pointer to task descriptor.

RESTRICTIONS
This routine must be called from the planning level.

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. rciBlock() waits for a 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 next control cycle before returning.

The function returns immediately if the task is not active.

DIAGNOSTICS
The routine will abort the program if called from the control level.

SEE ALSO
rciCreate(3), rciStart(3).