Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal] Refactor threads API (#8701)

Browse Source 
Since sched_setscheduler() requires non-RT priorities to be 0, we can
use that as a sentinel value for disabling RT and condense the Java API
to just two functions with fewer parameters. The thread priority setter
is deprecated since only experts should use it.

The HAL Notifier thread priority setter was replaced with setting the
priority in the thread itself.

The C++ Notifier non-RT and RT constructors were deduplicated.

The real-time scheduler was changed from SCHED_FIFO to SCHED_RR, which
is SCHED_FIFO with threads allowed to run for a maximum time quantum
before yielding (100 ms by default).
This commit is contained in:
Tyler Veness
2026-04-06 08:49:43 -07:00
committed by GitHub
parent cc56c42d4c
commit 173ecd3d02
27 changed files with 188 additions and 388 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
hal/src/main/native/sim/Threads.cpp
View File

@@ -4,22 +4,28 @@
#include "wpi/hal/Threads.h"
#include <stdint.h>
#include "wpi/hal/Types.h"
namespace wpi::hal::init {
void InitializeThreads() {}
} // namespace wpi::hal::init
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status) {
HAL_Status HAL_GetThreadPriority(NativeThreadHandle handle, int32_t* priority) {
*priority = 0;
return 0;
}
int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
HAL_Status HAL_GetCurrentThreadPriority(int32_t* priority) {
*priority = 0;
return 0;
}
HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
int32_t priority, int32_t* status) {
return true;
HAL_Status HAL_SetThreadPriority(NativeThreadHandle handle, int32_t priority) {
return 0;
}
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status) {
return true;
HAL_Status HAL_SetCurrentThreadPriority(int32_t priority) {
return 0;
}