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/shared/include/Task.inc b/wpilibc/shared/include/Task.inc
new file mode 100644
index 0000000..3514b92
--- /dev/null
+++ b/wpilibc/shared/include/Task.inc
@@ -0,0 +1,26 @@
+#include "HAL/HAL.hpp"
+#include <atomic>
+
+/**
+ * Create and launch a task.
+ *
+ * @param name The name of the task. "FRC_" will be prepended to the task name.
+ * @param function The address of the function to run as the new task.
+ * @param args A parameter pack of arguments to pass to the function.
+ */
+template <class Function, class... Args>
+Task::Task(const std::string& name, Function&& function, Args&&... args) {
+ m_taskName = "FRC_";
+ m_taskName += name;
+
+ std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
+
+ m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
+ std::forward<Args>(args)...);
+ //TODO: lvuser does not currently have permissions to set the priority.
+ //SetPriority(kDefaultPriority);
+
+ static std::atomic<int32_t> instances{0};
+ instances++;
+ HALReport(HALUsageReporting::kResourceType_Task, instances, 0, m_taskName.c_str());
+}