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Update to 2018_v4 image and new build system. (#598)

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* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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122
hal/src/main/native/athena/Threads.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. 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 "HAL/Threads.h"
#include <pthread.h>
#include <sched.h>
#include "HAL/Errors.h"
extern "C" {
/**
* Get the thread priority for the specified thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
int32_t* status) {
sched_param sch;
int policy;
int success = pthread_getschedparam(*handle, &policy, &sch);
if (success == 0) {
*status = 0;
} else {
*status = HAL_THREAD_PRIORITY_ERROR;
return -1;
}
if (policy == SCHED_FIFO || policy == SCHED_RR) {
*isRealTime = true;
return sch.sched_priority;
} else {
*isRealTime = false;
// 0 is the only suppored priority for non-realtime, so scale to 1
return 1;
}
}
/**
* Get the thread priority for the current thread.
*
* @param handle Native handle pointer to the thread to get the priority for
* @param isRealTime Set to true if thread is realtime, otherwise false
* @param status Error status variable. 0 on success
* @return The current thread priority. Scaled 1-99, with 1 being highest.
*/
int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
auto thread = pthread_self();
return HAL_GetThreadPriority(&thread, isRealTime, status);
}
/**
* 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
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
int32_t priority, int32_t* status) {
if (handle == nullptr) {
*status = NULL_PARAMETER;
return false;
}
int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER;
if (realTime) {
// We don't support setting priorities for non RT threads
// so we don't need to check for proper range
if (priority < sched_get_priority_min(scheduler) ||
priority > sched_get_priority_max(scheduler)) {
*status = HAL_THREAD_PRIORITY_RANGE_ERROR;
return false;
}
}
sched_param sch;
int policy;
pthread_getschedparam(*handle, &policy, &sch);
if (scheduler == SCHED_FIFO || scheduler == SCHED_RR)
sch.sched_priority = priority;
else
// Only need to set 0 priority for non RT thread
sch.sched_priority = 0;
if (pthread_setschedparam(*handle, scheduler, &sch)) {
*status = HAL_THREAD_PRIORITY_ERROR;
return false;
} else {
*status = 0;
return true;
}
}
/**
* Sets the thread priority for the current 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
* @param status Error status variable. 0 on success
*
* @return The success state of setting the priority
*/
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status) {
auto thread = pthread_self();
return HAL_SetThreadPriority(&thread, realTime, priority, status);
}
}