| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2016-2017. 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 | #pragma once |
| 9 | |
| 10 | #include <stdint.h> |
| 11 | |
| 12 | #include <atomic> |
| 13 | #include <iostream> |
| 14 | #include <string> |
| 15 | #include <utility> |
| 16 | |
| 17 | namespace frc { |
| 18 | |
| 19 | /** |
| 20 | * Create and launch a task. |
| 21 | * |
| 22 | * @param name The name of the task. "FRC_" will be prepended to the task name. |
| 23 | * @param function The address of the function to run as the new task. |
| 24 | * @param args A parameter pack of arguments to pass to the function. |
| 25 | */ |
| 26 | template <class Function, class... Args> |
| 27 | Task::Task(const std::string& name, Function&& function, Args&&... args) { |
| 28 | m_taskName = "FRC_"; |
| 29 | m_taskName += name; |
| 30 | |
| 31 | std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl; |
| 32 | |
| 33 | m_thread = std::thread(std::forward<std::decay_t<Function>>(function), |
| 34 | std::forward<Args>(args)...); |
| 35 | // TODO: lvuser does not currently have permissions to set the priority. |
| 36 | // SetPriority(kDefaultPriority); |
| 37 | |
| 38 | static std::atomic<int32_t> instances{0}; |
| 39 | instances++; |
| 40 | HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0, |
| 41 | m_taskName.c_str()); |
| 42 | } |
| 43 | |
| 44 | } // namespace frc |