Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/Task.cpp b/wpilibc/Athena/src/Task.cpp
new file mode 100644
index 0000000..9157dca
--- /dev/null
+++ b/wpilibc/Athena/src/Task.cpp
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Task.h"
+
+#include "WPIErrors.h"
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#ifndef OK
+#define OK 0
+#endif /* OK */
+#ifndef ERROR
+#define ERROR (-1)
+#endif /* ERROR */
+
+const uint32_t Task::kDefaultPriority;
+
+Task& Task::operator=(Task&& task) {
+ m_thread.swap(task.m_thread);
+ m_taskName = std::move(task.m_taskName);
+
+ return *this;
+}
+
+Task::~Task() {
+ if (m_thread.joinable()) {
+ std::cout << "[HAL] Exited task " << m_taskName << std::endl;
+ }
+}
+
+bool Task::joinable() const noexcept {
+ return m_thread.joinable();
+}
+
+void Task::join() {
+ m_thread.join();
+}
+
+void Task::detach() {
+ m_thread.detach();
+}
+
+std::thread::id Task::get_id() const noexcept {
+ return m_thread.get_id();
+}
+
+std::thread::native_handle_type Task::native_handle() {
+ return m_thread.native_handle();
+}
+
+/**
+ * Verifies a task still exists.
+ *
+ * @return true on success.
+ */
+bool Task::Verify() {
+ TASK id = (TASK)m_thread.native_handle();
+ return verifyTaskID(id) == OK;
+}
+
+/**
+ * Gets the priority of a task.
+ *
+ * @return task priority or 0 if an error occured
+ */
+int32_t Task::GetPriority() {
+ int priority;
+ auto id = m_thread.native_handle();
+ if (HandleError(getTaskPriority(&id, &priority)))
+ return priority;
+ else
+ return 0;
+}
+
+/**
+ * This routine changes a task's priority to a specified priority.
+ * Priorities range from 1, the lowest priority, to 99, the highest priority.
+ * Default task priority is 60.
+ *
+ * @param priority The priority at which the internal thread should run.
+ * @return true on success.
+ */
+bool Task::SetPriority(int32_t priority) {
+ auto id = m_thread.native_handle();
+ return HandleError(setTaskPriority(&id, priority));
+}
+
+/**
+ * Returns the name of the task.
+ *
+ * @return The name of the task.
+ */
+std::string Task::GetName() const { return m_taskName; }
+
+/**
+ * Handles errors generated by task related code.
+ */
+bool Task::HandleError(STATUS results) {
+ if (results != ERROR) return true;
+ int errsv = errno;
+ if (errsv == HAL_taskLib_ILLEGAL_PRIORITY) {
+ wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
+ } else {
+ printf("ERROR: errno=%i", errsv);
+ wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
+ }
+ return false;
+}