| 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 | #include "HAL/Threads.h" |
| 9 | #include "Threads.h" |
| 10 | |
| 11 | #include "ErrorBase.h" |
| 12 | #include "HAL/HAL.h" |
| 13 | |
| 14 | namespace frc { |
| 15 | /** |
| 16 | * Get the thread priority for the specified thread. |
| 17 | * |
| 18 | * @param thread Reference to the thread to get the priority for |
| 19 | * @param isRealTime Set to true if thread is realtime, otherwise false |
| 20 | * @return The current thread priority. Scaled 1-99, with 1 being highest. |
| 21 | */ |
| 22 | int GetThreadPriority(std::thread& thread, bool* isRealTime) { |
| 23 | int32_t status = 0; |
| 24 | HAL_Bool rt = false; |
| 25 | auto native = thread.native_handle(); |
| 26 | auto ret = HAL_GetThreadPriority(&native, &rt, &status); |
| 27 | wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 28 | *isRealTime = rt; |
| 29 | return ret; |
| 30 | } |
| 31 | |
| 32 | /** |
| 33 | * Get the thread priority for the current thread |
| 34 | * |
| 35 | * @param isRealTime Set to true if thread is realtime, otherwise false |
| 36 | * @return The current thread priority. Scaled 1-99. |
| 37 | */ |
| 38 | int GetCurrentThreadPriority(bool* isRealTime) { |
| 39 | int32_t status = 0; |
| 40 | HAL_Bool rt = false; |
| 41 | auto ret = HAL_GetCurrentThreadPriority(&rt, &status); |
| 42 | wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 43 | *isRealTime = rt; |
| 44 | return ret; |
| 45 | } |
| 46 | |
| 47 | /** |
| 48 | * Sets the thread priority for the specified thread |
| 49 | * |
| 50 | * @param thread Reference to the thread to set the priority of |
| 51 | * @param realTime Set to true to set a realtime priority, false for standard |
| 52 | * priority |
| 53 | * @param priority Priority to set the thread to. Scaled 1-99, with 1 being |
| 54 | * highest. On RoboRIO, priority is ignored for non realtime setting |
| 55 | * |
| 56 | * @return The success state of setting the priority |
| 57 | */ |
| 58 | bool SetThreadPriority(std::thread& thread, bool realTime, int priority) { |
| 59 | int32_t status = 0; |
| 60 | auto native = thread.native_handle(); |
| 61 | auto ret = HAL_SetThreadPriority(&native, realTime, priority, &status); |
| 62 | wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 63 | return ret; |
| 64 | } |
| 65 | |
| 66 | /** |
| 67 | * Sets the thread priority for the current thread |
| 68 | * |
| 69 | * @param realTime Set to true to set a realtime priority, false for standard |
| 70 | * priority |
| 71 | * @param priority Priority to set the thread to. Scaled 1-99, with 1 being |
| 72 | * highest. On RoboRIO, priority is ignored for non realtime setting |
| 73 | * |
| 74 | * @return The success state of setting the priority |
| 75 | */ |
| 76 | bool SetCurrentThreadPriority(bool realTime, int priority) { |
| 77 | int32_t status = 0; |
| 78 | auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status); |
| 79 | wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 80 | return ret; |
| 81 | } |
| 82 | } // namespace frc |