This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Task.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/Task.cpp
new file mode 100644
index 0000000..18e5d05
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Task.cpp
@@ -0,0 +1,216 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
+#include <errnoLib.h>
+#include <string.h>
+#include <taskLib.h>
+#include <usrLib.h>
+
+const UINT32 Task::kDefaultPriority;
+const INT32 Task::kInvalidTaskID;
+
+/**
+ * Create but don't 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 priority The VxWorks priority for the task.
+ * @param stackSize The size of the stack for the task
+ */
+Task::Task(const char* name, FUNCPTR function, INT32 priority, UINT32 stackSize)
+{
+ m_taskID = kInvalidTaskID;
+ m_function = function;
+ m_priority = priority;
+ m_stackSize = stackSize;
+ m_taskName = new char[strlen(name) + 5];
+ strcpy(m_taskName, "FRC_");
+ strcpy(m_taskName+4, name);
+
+ static INT32 instances = 0;
+ instances++;
+ nUsageReporting::report(nUsageReporting::kResourceType_Task, instances, 0, m_taskName);
+}
+
+Task::~Task()
+{
+ if (m_taskID != kInvalidTaskID) Stop();
+ delete [] m_taskName;
+ m_taskName = NULL;
+}
+
+/**
+ * Starts this task.
+ * If it is already running or unable to start, it fails and returns false.
+ */
+bool Task::Start(UINT32 arg0, UINT32 arg1, UINT32 arg2, UINT32 arg3, UINT32 arg4,
+ UINT32 arg5, UINT32 arg6, UINT32 arg7, UINT32 arg8, UINT32 arg9)
+{
+ m_taskID = taskSpawn(m_taskName,
+ m_priority,
+ VX_FP_TASK, // options
+ m_stackSize, // stack size
+ m_function, // function to start
+ arg0, arg1, arg2, arg3, arg4, // parameter 1 - pointer to this class
+ arg5, arg6, arg7, arg8, arg9);// additional unused parameters
+ bool ok = HandleError(m_taskID);
+ if (!ok) m_taskID = kInvalidTaskID;
+ return ok;
+}
+
+/**
+ * Restarts a running task.
+ * If the task isn't started, it starts it.
+ * @return false if the task is running and we are unable to kill the previous instance
+ */
+bool Task::Restart()
+{
+ return HandleError(taskRestart(m_taskID));
+}
+
+/**
+ * Kills the running task.
+ * @returns true on success false if the task doesn't exist or we are unable to kill it.
+ */
+bool Task::Stop()
+{
+ bool ok = true;
+ if (Verify())
+ {
+ ok = HandleError(taskDelete(m_taskID));
+ }
+ m_taskID = kInvalidTaskID;
+ return ok;
+}
+
+/**
+ * Returns true if the task is ready to execute (i.e. not suspended, delayed, or blocked).
+ * @return true if ready, false if not ready.
+ */
+bool Task::IsReady()
+{
+ return taskIsReady(m_taskID);
+}
+
+/**
+ * Returns true if the task was explicitly suspended by calling Suspend()
+ * @return true if suspended, false if not suspended.
+ */
+bool Task::IsSuspended()
+{
+ return taskIsSuspended(m_taskID);
+}
+
+/**
+ * Pauses a running task.
+ * Returns true on success, false if unable to pause or the task isn't running.
+ */
+bool Task::Suspend()
+{
+ return HandleError(taskSuspend(m_taskID));
+}
+
+/**
+ * Resumes a paused task.
+ * Returns true on success, false if unable to resume or if the task isn't running/paused.
+ */
+bool Task::Resume()
+{
+ return HandleError(taskResume(m_taskID));
+}
+
+/**
+ * Verifies a task still exists.
+ * @returns true on success.
+ */
+bool Task::Verify()
+{
+ return taskIdVerify(m_taskID) == OK;
+}
+
+/**
+ * Gets the priority of a task.
+ * @returns task priority or 0 if an error occured
+ */
+INT32 Task::GetPriority()
+{
+ if (HandleError(taskPriorityGet(m_taskID, &m_priority)))
+ return m_priority;
+ else
+ return 0;
+}
+
+/**
+ * This routine changes a task's priority to a specified priority.
+ * Priorities range from 0, the highest priority, to 255, the lowest priority.
+ * Default task priority is 100.
+ * @param priority The priority the task should run at.
+ * @returns true on success.
+ */
+bool Task::SetPriority(INT32 priority)
+{
+ m_priority = priority;
+ return HandleError(taskPrioritySet(m_taskID, m_priority));
+}
+
+/**
+ * Returns the name of the task.
+ * @returns Pointer to the name of the task or NULL if not allocated
+ */
+const char* Task::GetName()
+{
+ return m_taskName;
+}
+
+/**
+ * Get the ID of a task
+ * @returns Task ID of this task. Task::kInvalidTaskID (-1) if the task has not been started or has already exited.
+ */
+INT32 Task::GetID()
+{
+ if (Verify())
+ return m_taskID;
+ return kInvalidTaskID;
+}
+
+/**
+ * Handles errors generated by task related code.
+ */
+bool Task::HandleError(STATUS results)
+{
+ if (results != ERROR) return true;
+ switch(errnoGet())
+ {
+ case S_objLib_OBJ_ID_ERROR:
+ wpi_setWPIErrorWithContext(TaskIDError, m_taskName);
+ break;
+
+ case S_objLib_OBJ_DELETED:
+ wpi_setWPIErrorWithContext(TaskDeletedError, m_taskName);
+ break;
+
+ case S_taskLib_ILLEGAL_OPTIONS:
+ wpi_setWPIErrorWithContext(TaskOptionsError, m_taskName);
+ break;
+
+ case S_memLib_NOT_ENOUGH_MEMORY:
+ wpi_setWPIErrorWithContext(TaskMemoryError, m_taskName);
+ break;
+
+ case S_taskLib_ILLEGAL_PRIORITY:
+ wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName);
+ break;
+
+ default:
+ printErrno(errnoGet());
+ wpi_setWPIErrorWithContext(TaskError, m_taskName);
+ }
+ return false;
+}
+