Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/Task.inc b/wpilibc/athena/include/Task.inc
new file mode 100644
index 0000000..e56b5ee
--- /dev/null
+++ b/wpilibc/athena/include/Task.inc
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <atomic>
+#include <iostream>
+#include <string>
+#include <utility>
+
+namespace frc {
+
+/**
+ * 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++;
+ HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0,
+ m_taskName.c_str());
+}
+
+} // namespace frc