Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders:
hal/lib/Athena -> hal/lib/athena
hal/lib/Desktop -> hal/lib/sim
hal/lib/Shared -> hal/lib/shared
wpilibc/Athena -> wpilibc/athena
wpilibc/simulation -> wpilibc/sim

Windows users may need to run gradlew clean after updating.

wpilibc/athena/src/Task.cpp

@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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 "Task.h"
+
+#include <errno.h>
+#include <stdio.h>
+#include <string.h>
+#include "WPIErrors.h"
+
+#ifndef OK
+#define OK 0
+#endif /* OK */
+#ifndef ERROR
+#define ERROR (-1)
+#endif /* ERROR */
+
+const uint32_t 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() {
+  TASK id = (TASK)m_thread.native_handle();
+  return verifyTaskID(id) == OK;
+}
+
+/**
+ * Gets the priority of a task.
+ *
+ * @return task priority or 0 if an error occured
+ */
+int32_t Task::GetPriority() {
+  int priority;
+  auto id = m_thread.native_handle();
+  if (HandleError(getTaskPriority(&id, &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(int32_t priority) {
+  auto id = m_thread.native_handle();
+  return HandleError(setTaskPriority(&id, priority));
+}
+
+/**
+ * Returns the name of the task.
+ *
+ * @return The name of the task.
+ */
+std::string Task::GetName() const { return m_taskName; }
+
+/**
+ * Handles errors generated by task related code.
+ */
+bool Task::HandleError(STATUS results) {
+  if (results != ERROR) return true;
+  int errsv = errno;
+  if (errsv == HAL_taskLib_ILLEGAL_PRIORITY) {
+    wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
+  } else {
+    printf("ERROR: errno=%i", errsv);
+    wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
+  }
+  return false;
+}