| Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "hal/Threads.h" |
| 9 | |
| 10 | #include <pthread.h> |
| 11 | #include <sched.h> |
| 12 | |
| 13 | #include "hal/Errors.h" |
| 14 | |
| 15 | namespace hal { |
| 16 | namespace init { |
| 17 | void InitializeThreads() {} |
| 18 | } // namespace init |
| 19 | } // namespace hal |
| 20 | |
| 21 | extern "C" { |
| 22 | |
| 23 | int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime, |
| 24 | int32_t* status) { |
| 25 | sched_param sch; |
| 26 | int policy; |
| 27 | int success = pthread_getschedparam( |
| 28 | *reinterpret_cast<const pthread_t*>(handle), &policy, &sch); |
| 29 | if (success == 0) { |
| 30 | *status = 0; |
| 31 | } else { |
| 32 | *status = HAL_THREAD_PRIORITY_ERROR; |
| 33 | return -1; |
| 34 | } |
| 35 | if (policy == SCHED_FIFO || policy == SCHED_RR) { |
| 36 | *isRealTime = true; |
| 37 | return sch.sched_priority; |
| 38 | } else { |
| 39 | *isRealTime = false; |
| 40 | // 0 is the only suppored priority for non-realtime, so scale to 1 |
| 41 | return 1; |
| 42 | } |
| 43 | } |
| 44 | |
| 45 | int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) { |
| 46 | auto thread = pthread_self(); |
| 47 | return HAL_GetThreadPriority(&thread, isRealTime, status); |
| 48 | } |
| 49 | |
| 50 | HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime, |
| 51 | int32_t priority, int32_t* status) { |
| 52 | if (handle == nullptr) { |
| 53 | *status = NULL_PARAMETER; |
| 54 | return false; |
| 55 | } |
| 56 | |
| 57 | int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER; |
| 58 | if (realTime) { |
| 59 | // We don't support setting priorities for non RT threads |
| 60 | // so we don't need to check for proper range |
| 61 | if (priority < sched_get_priority_min(scheduler) || |
| 62 | priority > sched_get_priority_max(scheduler)) { |
| 63 | *status = HAL_THREAD_PRIORITY_RANGE_ERROR; |
| 64 | return false; |
| 65 | } |
| 66 | } |
| 67 | |
| 68 | sched_param sch; |
| 69 | int policy; |
| 70 | pthread_getschedparam(*reinterpret_cast<const pthread_t*>(handle), &policy, |
| 71 | &sch); |
| 72 | if (scheduler == SCHED_FIFO || scheduler == SCHED_RR) |
| 73 | sch.sched_priority = priority; |
| 74 | else |
| 75 | // Only need to set 0 priority for non RT thread |
| 76 | sch.sched_priority = 0; |
| 77 | if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle), |
| 78 | scheduler, &sch)) { |
| 79 | *status = HAL_THREAD_PRIORITY_ERROR; |
| 80 | return false; |
| 81 | } else { |
| 82 | *status = 0; |
| 83 | return true; |
| 84 | } |
| 85 | } |
| 86 | |
| 87 | HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority, |
| 88 | int32_t* status) { |
| 89 | auto thread = pthread_self(); |
| 90 | return HAL_SetThreadPriority(&thread, realTime, priority, status); |
| 91 | } |
| 92 | |
| 93 | } // extern "C" |