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Adds new Threads API for priority setting while using std::thread (#379)

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Also adds Java API for doing the same to Java threads (standard Java Thread.setPriority only works
when Java is run as root, even if the process has the right privileges).
This commit is contained in:
Thad House
2016-12-01 21:06:19 -08:00
committed by Peter Johnson
parent 051df14046
commit 351ff5eb48
12 changed files with 394 additions and 2 deletions
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82
wpilibc/athena/src/Threads.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. 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 "HAL/Threads.h"
#include "Threads.h"
#include "ErrorBase.h"
#include "HAL/HAL.h"
namespace frc {
/**
* Get the thread priority for the specified thread.
*
* @param thread Reference to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int GetThreadPriority(std::thread& thread, bool* isRealTime) {
int32_t status = 0;
HAL_Bool rt = false;
auto native = thread.native_handle();
auto ret = HAL_GetThreadPriority(&native, &rt, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
*isRealTime = rt;
return ret;
}
/**
* Get the thread priority for the current thread
*
* @param isRealTime Set to true if thread is realtime, otherwise false
* @return The current thread priority. Scaled 1-99.
*/
int GetCurrentThreadPriority(bool* isRealTime) {
int32_t status = 0;
HAL_Bool rt = false;
auto ret = HAL_GetCurrentThreadPriority(&rt, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
*isRealTime = rt;
return ret;
}
/**
* Sets the thread priority for the specified thread
*
* @param thread Reference to the thread to set the priority of
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest. On RoboRIO, priority is ignored for non realtime setting
*
* @return The success state of setting the priority
*/
bool SetThreadPriority(std::thread& thread, bool realTime, int priority) {
int32_t status = 0;
auto native = thread.native_handle();
auto ret = HAL_SetThreadPriority(&native, realTime, priority, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return ret;
}
/**
* Sets the thread priority for the current thread
*
* @param realTime Set to true to set a realtime priority, false for standard
* priority
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest. On RoboRIO, priority is ignored for non realtime setting
*
* @return The success state of setting the priority
*/
bool SetCurrentThreadPriority(bool realTime, int priority) {
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority(realTime, priority, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return ret;
}
} // namespace frc