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/src/Task.cpp b/wpilibc/athena/src/Task.cpp
new file mode 100644
index 0000000..e7dbc9a
--- /dev/null
+++ b/wpilibc/athena/src/Task.cpp
@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "Task.h"
+
+#include <signal.h>
+
+#include <cerrno>
+
+#include "WPIErrors.h"
+
+namespace frc {
+
+const int 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() { return VerifyTaskId() == TASK_OK; }
+
+/**
+ * Gets the priority of a task.
+ *
+ * @return task priority or 0 if an error occured
+ */
+int Task::GetPriority() {
+ int priority;
+ if (HandleError(GetTaskPriority(&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(int priority) {
+ return HandleError(SetTaskPriority(priority));
+}
+
+/**
+ * Returns the name of the task.
+ *
+ * @return The name of the task.
+ */
+std::string Task::GetName() const { return m_taskName; }
+
+Task::TASK_STATUS Task::VerifyTaskId() {
+ auto task = m_thread.native_handle();
+ if (pthread_kill(task, 0) == 0) {
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+Task::TASK_STATUS Task::GetTaskPriority(int32_t* priority) {
+ auto task = m_thread.native_handle();
+ int32_t policy = 0;
+ struct sched_param param;
+
+ if (VerifyTaskId() == TASK_OK &&
+ pthread_getschedparam(task, &policy, ¶m) == 0) {
+ *priority = param.sched_priority;
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+Task::TASK_STATUS Task::SetTaskPriority(int32_t priority) {
+ auto task = m_thread.native_handle();
+ int32_t policy = 0;
+ struct sched_param param;
+
+ if (VerifyTaskId() == TASK_OK &&
+ pthread_getschedparam(task, &policy, ¶m) == 0) {
+ param.sched_priority = priority;
+ if (pthread_setschedparam(task, SCHED_FIFO, ¶m) == 0) {
+ return TASK_OK;
+ } else {
+ return TASK_ERROR;
+ }
+ } else {
+ return TASK_ERROR;
+ }
+}
+
+/**
+ * Handles errors generated by task related code.
+ */
+bool Task::HandleError(TASK_STATUS results) {
+ if (results != TASK_ERROR) return true;
+ int errsv = errno;
+ if (errsv == TaskLib_ILLEGAL_PRIORITY) {
+ wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
+ } else {
+ std::printf("ERROR: errno=%i", errsv);
+ wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
+ }
+ return false;
+}
+
+} // namespace frc