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Remove deprecated Task class (#550)

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Tyler Veness
2017-06-30 19:12:19 -04:00
committed by Peter Johnson
parent 462b231dac
commit 0cd03c66e3
3 changed files with 0 additions and 256 deletions
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140
wpilibc/athena/src/Task.cpp
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@@ -1,140 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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, &param) == 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, &param) == 0) {
param.sched_priority = priority;
if (pthread_setschedparam(task, SCHED_FIFO, &param) == 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