mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "ErrorBase.h"
|
|
#include "HAL/Task.hpp"
|
|
|
|
/**
|
|
* WPI task is a wrapper for the native Task object.
|
|
* All WPILib tasks are managed by a static task manager for simplified cleanup.
|
|
**/
|
|
class Task : public ErrorBase {
|
|
public:
|
|
static const uint32_t kDefaultPriority = 101;
|
|
|
|
Task(const char* name, FUNCPTR function, int32_t priority = kDefaultPriority,
|
|
uint32_t stackSize = 20000);
|
|
virtual ~Task();
|
|
|
|
bool Start(uint32_t arg0 = 0, uint32_t arg1 = 0, uint32_t arg2 = 0,
|
|
uint32_t arg3 = 0, uint32_t arg4 = 0, uint32_t arg5 = 0,
|
|
uint32_t arg6 = 0, uint32_t arg7 = 0, uint32_t arg8 = 0,
|
|
uint32_t arg9 = 0);
|
|
bool Restart();
|
|
bool Stop();
|
|
|
|
bool IsReady() const;
|
|
bool IsSuspended() const;
|
|
|
|
bool Suspend();
|
|
bool Resume();
|
|
|
|
bool Verify() const;
|
|
|
|
int32_t GetPriority();
|
|
bool SetPriority(int32_t priority);
|
|
const char* GetName() const;
|
|
TASK GetID() const;
|
|
|
|
private:
|
|
FUNCPTR m_function;
|
|
char* m_taskName;
|
|
TASK m_taskID = NULL_TASK;
|
|
uint32_t m_stackSize;
|
|
int m_priority;
|
|
bool HandleError(STATUS results);
|
|
DISALLOW_COPY_AND_ASSIGN(Task);
|
|
};
|