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artf4149: Removed references to VxWorks

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Implemented setTaskPriority() and getTaskPriority() in Task HAL API

Removed all other unimplemented functions in HAL and removed spawnTask()

Replaced instances of pthread_t* with TASK typedef

Removed unused HAL error constants and removed commented-out classes and functions in wpilibj's HALLibrary

Changed Task class API to match the construction semantics of a std::thread

Change-Id: I3bc951a3da90d24c5589fae4d1ca2bb60225c873
This commit is contained in:
Tyler Veness
2014-08-14 00:07:02 -07:00
committed by James Kuszmaul
parent 5712565068
commit fd4c169658
41 changed files with 214 additions and 647 deletions
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108
hal/lib/Athena/Task.cpp
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@@ -1,4 +1,3 @@
#include "HAL/Task.hpp"
#ifndef OK
@@ -8,86 +7,10 @@
#define ERROR (-1)
#endif /* ERROR */
#include <stdio.h>
#include <signal.h>
struct TaskArgs {
FUNCPTR fun;
char* name;
pthread_t** task;
uint32_t arg0, arg1, arg2, arg3, arg4,
arg5, arg6, arg7, arg8, arg9;
};
void* startRoutine(void* data) {
TaskArgs* args = (TaskArgs*) data;
printf("[HAL] Starting task %s...\n", args->name);
int val = args->fun(args->arg0, args->arg1, args->arg2, args->arg3, args->arg4,
args->arg5, args->arg6, args->arg7, args->arg8, args->arg9);
printf("[HAL] Exited task %s with code %i\n", args->name, val);
*args->task = NULL;
int* ret = new int(); *ret = val;
return ret;
}
/**
* @param priority Not implemented.
* @param options Not implemented.
* @param stackSize Not implemented.
*/
TASK spawnTask(char * name, int priority, int options, int stackSize,
FUNCPTR entryPt, uint32_t arg0, uint32_t arg1, uint32_t arg2,
uint32_t arg3, uint32_t arg4, uint32_t arg5, uint32_t arg6,
uint32_t arg7, uint32_t arg8, uint32_t arg9) {
printf("[HAL] Spawning task %s...\n", name);
pthread_t* task = new pthread_t;
pthread_attr_t* attr = new pthread_attr_t;
pthread_attr_init(attr);
TaskArgs* args = new TaskArgs();
args->fun = entryPt;
args->name = name;
args->task = new pthread_t*;
*args->task = task;
args->arg0 = arg0; args->arg1 = arg1; args->arg2 = arg2; args->arg3 = arg3; args->arg4 = arg4;
args->arg5 = arg5; args->arg6 = arg6; args->arg7 = arg7; args->arg8 = arg8; args->arg9 = arg9;
if (pthread_create(task, attr, startRoutine, args) == 0) {
printf("[HAL] Success\n");
pthread_detach(*task);
} else {
printf("[HAL] Failure\n");
task = NULL;
}
pthread_attr_destroy(attr);
return task;
}
STATUS restartTask(TASK task) {
return ERROR; // TODO: implement;
}
STATUS deleteTask(TASK task) {
return ERROR; // TODO: implement
}
STATUS isTaskReady(TASK task) {
return ERROR; // TODO: implement
}
STATUS isTaskSuspended(TASK task) {
return ERROR; // TODO: implement
}
STATUS suspendTask(TASK task) {
return ERROR; // TODO: implement
}
STATUS resumeTask(TASK task) {
return ERROR; // TODO: implement
}
STATUS verifyTaskID(TASK task) {
if (task != NULL && pthread_kill(*task, 0) == 0) {
if (task != nullptr && pthread_kill(*task, 0) == 0) {
return OK;
} else {
return ERROR;
@@ -95,9 +18,34 @@ STATUS verifyTaskID(TASK task) {
}
STATUS setTaskPriority(TASK task, int priority) {
return ERROR; // TODO: implement
int 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 OK;
}
else {
return ERROR;
}
}
else {
return ERROR;
}
}
STATUS getTaskPriority(TASK task, int* priority) {
return ERROR; // TODO: implement
int policy = 0;
struct sched_param param;
if (verifyTaskID(task) == OK &&
pthread_getschedparam(*task, &policy, &param) == 0) {
*priority = param.sched_priority;
return OK;
}
else {
return ERROR;
}
}