mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
351ff5eb48
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).
121 lines
4.0 KiB
C++
121 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/Threads.h"
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#include <pthread.h>
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#include <sched.h>
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#include "HAL/Errors.h"
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/**
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* Get the thread priority for the specified thread.
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*
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* @param handle Native handle pointer to the thread to get the priority for
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* @param isRealTime Set to true if thread is realtime, otherwise false
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* @param status Error status variable. 0 on success
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* @return The current thread priority. Scaled 1-99, with 1 being highest.
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*/
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int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
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int32_t* status) {
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sched_param sch;
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int policy;
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int success = pthread_getschedparam(*handle, &policy, &sch);
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if (success == 0) {
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*status = 0;
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} else {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return -1;
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}
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if (policy == SCHED_FIFO || policy == SCHED_RR) {
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*isRealTime = true;
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return sch.sched_priority;
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} else {
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*isRealTime = false;
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// 0 is the only suppored priority for non-realtime, so scale to 1
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return 1;
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}
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}
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/**
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* Get the thread priority for the current thread.
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*
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* @param handle Native handle pointer to the thread to get the priority for
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* @param isRealTime Set to true if thread is realtime, otherwise false
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* @param status Error status variable. 0 on success
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* @return The current thread priority. Scaled 1-99, with 1 being highest.
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*/
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int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
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auto thread = pthread_self();
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return HAL_GetThreadPriority(&thread, isRealTime, status);
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}
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/**
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* Sets the thread priority for the specified thread
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*
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* @param thread Reference to the thread to set the priority of
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* @param realTime Set to true to set a realtime priority, false for standard
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* priority
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* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
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* highest
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* @param status Error status variable. 0 on success
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*
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* @return The success state of setting the priority
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*/
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HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
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int32_t priority, int32_t* status) {
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if (handle == nullptr) {
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*status = NULL_PARAMETER;
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return false;
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}
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int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER;
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if (realTime) {
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// We don't support setting priorities for non RT threads
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// so we don't need to check for proper range
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if (priority < sched_get_priority_min(scheduler) ||
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priority > sched_get_priority_max(scheduler)) {
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*status = HAL_THREAD_PRIORITY_RANGE_ERROR;
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return false;
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}
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}
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sched_param sch;
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int policy;
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pthread_getschedparam(*handle, &policy, &sch);
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if (scheduler == SCHED_FIFO || scheduler == SCHED_RR)
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sch.sched_priority = priority;
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else
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// Only need to set 0 priority for non RT thread
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sch.sched_priority = 0;
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if (pthread_setschedparam(*handle, scheduler, &sch)) {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return true;
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} else {
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*status = 0;
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return false;
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}
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}
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/**
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* Sets the thread priority for the current thread
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*
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* @param thread Reference to the thread to set the priority of
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* @param realTime Set to true to set a realtime priority, false for standard
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* priority
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* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
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* highest
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* @param status Error status variable. 0 on success
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*
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* @return The success state of setting the priority
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*/
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HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
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int32_t* status) {
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auto thread = pthread_self();
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return HAL_SetThreadPriority(&thread, realTime, priority, status);
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}
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