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PlayTone(1000,300); Wait(600); } } task task2() { while(true) { PlayTone(500,300); Wait(600); } } task main() { Precedes(task1,task2); } Here you can see that the main task is used just to tell the NXT scheduler to execute the tasks named task1 and task2, after the main task itself has finished. Because the Precedes statement is the only thing the main task has to do, it ends at once, leaving space for the other two concurrent tasks. They are concurrent, in fact, because both are trying to play a tone, accessing the NXT loudspeaker as a shared resource. The program does not behave as expected, because the tasks alternate with no discipline about the loudspeaker usage. The sound pattern coming out is random: it could be low, high, high, high, low, low, high, high, low, low, low, low, high . . . , instead of the regular pattern described before, where the high and low tones alternate in an orderly fashion. Now you should realize why you must employ mutex variables. See the correct version of the preceding program in Listing 5-2. Listing 5-2. The Correct Version of a Simple Multitask Program to Play Alternating Sounds mutex sound; task task1() { while(true) { Acquire(sound); PlayTone(1000,300); Wait(600); Release(sound); } } task task2() { while(true)

The parity approach to RAID is a good thing, unless you are concerned about performance. There s a negative impact on performance, because writing that extra bit of parity information each and every time will add additional overhead. Let s examine several different RAID levels that use different combinations of mirroring and parity to achieve protection and speed. I don t discuss every possible RAID level, just the ones you are likely to encounter as a DBA.

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{ Acquire(sound); PlayTone(500,300); Wait(600); Release(sound); } } task main() { Precedes(task1,task2); } The program is the same, but now the critical sections those parts of the task code where the shared resource is used are enclosed by the Acquire/Release statements. The mutex variable is called sound, according to the function of the critical section it is meant to discipline. It is declared as a global variable, so that every function or task in the program can see and use it. The sound pattern coming out is the one you desired: high, low, high, low, high, low . . . The first sound to be played is always the high-pitched one, because task1 comes before task2 in the Precedes statement list. The first scheduled task is task1, playing the high tone first. If you swap the task names inside parentheses, such as Precedes(task2,task1), the first sound heard will be the low-pitched one, played by task2. Now you should have the essential background about multitasking to continue on.

Android phones have powerful features to let you manage your contacts and personalize your phone experience. Contacts added in Android are backed up on the Web with Google Contacts. Take advantage of Home screen shortcuts and folders to organize frequently called contacts. Sign up for a Google Voice account for powerful phoneforwarding options and free SMS text messaging.

This level is commonly called disk striping, and the result is often referred to as a striped set of disks. Your data gets divided into chunks (or blocks) and distributed across all the disks in the array in a fixed order. Figure 3 4 illustrates the approach.

Omni-Biped s behavior is simple. It starts walking straight until it sees an obstacle with the Ultrasonic Sensor; at that point, it stops, realigns the legs, and draws back until the obstacle goes out of view. Then it starts a turning maneuver, choosing the direction randomly. The turning lasts only a few moments, or until another object comes in sight. After the turn, Omni-Biped starts walking straight again. As explained and shown before in Figure 5-2, the legs must always be aligned correctly before the program is started. The robot will realign the legs automatically after every walk, to bring them back to the starting position. First, you ll see the single-task program that implements this simple behavior. As usual, the program starts defining the preprocessor macros (see Listing 5-3), useful to maintaining and modifying the program easily. Listing 5-3. The Initial Definitions of the Omni-Biped Program and Global Variable Declaration #define #define #define #define #define #define HALF_STEP 540 FULL_STEP 1080 RIGHT_LEG OUT_B LEFT_LEG OUT_A BOTH_LEGS OUT_AB EYES IN_1

#define #define #define #define #define #define #define #define #define #define #define #define #define

SMS stands for Short Message Service, but most of the time it s just referred to as texting. The first text was sent in 1992, but the standard for text messages was developed as early as 1985. The message Merry Christmas marked the beginning of non-voice services on phones. Text messages can be very valuable to the productive worker. Sign up for messages if your flight is canceled. Use messages to alert your customers of a change in plans or to give customer service and resolve a problem. Request follow-up information during a meeting without having to interrupt the meeting to make a voice call. Send pictures of a job site from the field. In this chapter, we ll cover sending and receiving text messages, using alternatives to text messages, and using apps to extend your texting abilities.

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