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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
63 lines
1.4 KiB
C++
63 lines
1.4 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/Task.hpp"
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#ifndef OK
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#define OK 0
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#endif /* OK */
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#ifndef ERROR
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#define ERROR (-1)
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#endif /* ERROR */
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#include <signal.h>
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extern "C" {
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STATUS verifyTaskID(TASK task) {
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if (task != nullptr && pthread_kill(*task, 0) == 0) {
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return OK;
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} else {
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return ERROR;
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}
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}
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STATUS setTaskPriority(TASK task, int priority) {
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int policy = 0;
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struct sched_param param;
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if (verifyTaskID(task) == OK &&
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pthread_getschedparam(*task, &policy, ¶m) == 0) {
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param.sched_priority = priority;
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if (pthread_setschedparam(*task, SCHED_FIFO, ¶m) == 0) {
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return OK;
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}
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else {
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return ERROR;
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}
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}
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else {
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return ERROR;
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}
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}
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STATUS getTaskPriority(TASK task, int* priority) {
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int policy = 0;
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struct sched_param param;
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if (verifyTaskID(task) == OK &&
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pthread_getschedparam(*task, &policy, ¶m) == 0) {
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*priority = param.sched_priority;
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return OK;
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}
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else {
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return ERROR;
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}
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}
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} // extern "C"
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