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https://github.com/wpilibsuite/allwpilib
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Remove deprecated Task class (#550)
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
462b231dac
commit
0cd03c66e3
@@ -1,72 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <string>
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#include <thread>
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#include "ErrorBase.h"
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#include "HAL/HAL.h"
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#include "support/deprecated.h"
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namespace frc {
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/**
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* Wrapper class around std::thread that allows changing thread priority
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*/
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class WPI_DEPRECATED(
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"Task API scheduled for removal in 2018. Replace with std::thread, and use "
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"Threads API for setting priority") Task : public ErrorBase {
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public:
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static const int kDefaultPriority = 60;
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Task() = default;
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Task(const Task&) = delete;
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Task& operator=(const Task&) = delete;
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Task& operator=(Task&& task);
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template <class Function, class... Args>
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Task(const std::string& name, Function&& function, Args&&... args);
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virtual ~Task();
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bool joinable() const noexcept;
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void join();
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void detach();
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std::thread::id get_id() const noexcept;
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std::thread::native_handle_type native_handle();
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bool Verify();
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int GetPriority();
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bool SetPriority(int priority);
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std::string GetName() const;
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private:
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std::thread m_thread;
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std::string m_taskName;
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typedef int32_t TASK_STATUS;
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static constexpr int32_t TASK_OK = 0;
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static constexpr int32_t TASK_ERROR = -1;
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static constexpr int32_t TaskLib_ILLEGAL_PRIORITY = 22; // 22 is EINVAL
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bool HandleError(TASK_STATUS results);
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TASK_STATUS VerifyTaskId();
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TASK_STATUS GetTaskPriority(int32_t* priority);
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TASK_STATUS SetTaskPriority(int32_t priority);
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};
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} // namespace frc
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#include "Task.inc"
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@@ -1,44 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <atomic>
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#include <iostream>
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#include <string>
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#include <utility>
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namespace frc {
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/**
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* Create and launch a task.
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*
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* @param name The name of the task. "FRC_" will be prepended to the task name.
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* @param function The address of the function to run as the new task.
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* @param args A parameter pack of arguments to pass to the function.
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*/
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template <class Function, class... Args>
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Task::Task(const std::string& name, Function&& function, Args&&... args) {
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m_taskName = "FRC_";
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m_taskName += name;
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std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
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m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
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std::forward<Args>(args)...);
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// TODO: lvuser does not currently have permissions to set the priority.
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// SetPriority(kDefaultPriority);
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static std::atomic<int32_t> instances{0};
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instances++;
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HAL_Report(HALUsageReporting::kResourceType_Task, instances, 0,
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m_taskName.c_str());
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}
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} // namespace frc
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@@ -1,140 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Task.h"
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#include <signal.h>
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#include <cerrno>
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#include "WPIErrors.h"
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namespace frc {
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const int Task::kDefaultPriority;
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Task& Task::operator=(Task&& task) {
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m_thread.swap(task.m_thread);
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m_taskName = std::move(task.m_taskName);
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return *this;
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}
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Task::~Task() {
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if (m_thread.joinable()) {
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std::cout << "[HAL] Exited task " << m_taskName << std::endl;
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}
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}
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bool Task::joinable() const noexcept { return m_thread.joinable(); }
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void Task::join() { m_thread.join(); }
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void Task::detach() { m_thread.detach(); }
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std::thread::id Task::get_id() const noexcept { return m_thread.get_id(); }
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std::thread::native_handle_type Task::native_handle() {
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return m_thread.native_handle();
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}
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/**
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* Verifies a task still exists.
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*
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* @return true on success.
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*/
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bool Task::Verify() { return VerifyTaskId() == TASK_OK; }
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/**
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* Gets the priority of a task.
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*
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* @return task priority or 0 if an error occured
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*/
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int Task::GetPriority() {
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int priority;
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if (HandleError(GetTaskPriority(&priority)))
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return priority;
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else
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return 0;
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}
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/**
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* This routine changes a task's priority to a specified priority.
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* Priorities range from 1, the lowest priority, to 99, the highest priority.
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* Default task priority is 60.
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*
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* @param priority The priority at which the internal thread should run.
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* @return true on success.
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*/
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bool Task::SetPriority(int priority) {
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return HandleError(SetTaskPriority(priority));
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}
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/**
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* Returns the name of the task.
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*
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* @return The name of the task.
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*/
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std::string Task::GetName() const { return m_taskName; }
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Task::TASK_STATUS Task::VerifyTaskId() {
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auto task = m_thread.native_handle();
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if (pthread_kill(task, 0) == 0) {
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return TASK_OK;
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} else {
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return TASK_ERROR;
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}
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}
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Task::TASK_STATUS Task::GetTaskPriority(int32_t* priority) {
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auto task = m_thread.native_handle();
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int32_t policy = 0;
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struct sched_param param;
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if (VerifyTaskId() == TASK_OK &&
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pthread_getschedparam(task, &policy, ¶m) == 0) {
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*priority = param.sched_priority;
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return TASK_OK;
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} else {
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return TASK_ERROR;
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}
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}
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Task::TASK_STATUS Task::SetTaskPriority(int32_t priority) {
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auto task = m_thread.native_handle();
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int32_t policy = 0;
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struct sched_param param;
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if (VerifyTaskId() == TASK_OK &&
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pthread_getschedparam(task, &policy, ¶m) == 0) {
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param.sched_priority = priority;
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if (pthread_setschedparam(task, SCHED_FIFO, ¶m) == 0) {
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return TASK_OK;
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} else {
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return TASK_ERROR;
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}
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} else {
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return TASK_ERROR;
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}
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}
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/**
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* Handles errors generated by task related code.
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*/
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bool Task::HandleError(TASK_STATUS results) {
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if (results != TASK_ERROR) return true;
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int errsv = errno;
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if (errsv == TaskLib_ILLEGAL_PRIORITY) {
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wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
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} else {
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std::printf("ERROR: errno=%i", errsv);
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wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
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}
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return false;
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}
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} // namespace frc
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