Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/hal/src/main/native/cpp/Main.cpp b/hal/src/main/native/cpp/Main.cpp
new file mode 100644
index 0000000..a37c2b0
--- /dev/null
+++ b/hal/src/main/native/cpp/Main.cpp
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/Main.h"
+
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+
+static void DefaultMain(void*);
+static void DefaultExit(void*);
+
+static bool gHasMain = false;
+static void* gMainParam = nullptr;
+static void (*gMainFunc)(void*) = DefaultMain;
+static void (*gExitFunc)(void*) = DefaultExit;
+static bool gExited = false;
+struct MainObj {
+ wpi::mutex gExitMutex;
+ wpi::condition_variable gExitCv;
+};
+
+static MainObj* mainObj;
+
+static void DefaultMain(void*) {
+ std::unique_lock lock{mainObj->gExitMutex};
+ mainObj->gExitCv.wait(lock, [] { return gExited; });
+}
+
+static void DefaultExit(void*) {
+ std::lock_guard lock{mainObj->gExitMutex};
+ gExited = true;
+ mainObj->gExitCv.notify_all();
+}
+
+namespace hal {
+namespace init {
+void InitializeMain() {
+ static MainObj mO;
+ mainObj = &mO;
+}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+
+void HAL_SetMain(void* param, void (*mainFunc)(void*),
+ void (*exitFunc)(void*)) {
+ gHasMain = true;
+ gMainParam = param;
+ gMainFunc = mainFunc;
+ gExitFunc = exitFunc;
+}
+
+HAL_Bool HAL_HasMain(void) { return gHasMain; }
+
+void HAL_RunMain(void) { gMainFunc(gMainParam); }
+
+void HAL_ExitMain(void) { gExitFunc(gMainParam); }
+
+} // extern "C"