mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
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
115 lines
2.7 KiB
C++
115 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Task.h"
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#include "WPIErrors.h"
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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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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const uint32_t Task::kDefaultPriority;
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Task& Task::operator=(Task&& task) {
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m_thread.swap(task.m_thread);
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m_taskName = std::move(task.m_taskName);
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return *this;
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}
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Task::~Task() {
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if (m_thread.joinable()) {
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std::cout << "[HAL] Exited task " << m_taskName << std::endl;
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}
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}
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bool Task::joinable() const noexcept {
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return m_thread.joinable();
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}
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void Task::join() {
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m_thread.join();
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}
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void Task::detach() {
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m_thread.detach();
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}
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std::thread::id Task::get_id() const noexcept {
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return m_thread.get_id();
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}
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std::thread::native_handle_type Task::native_handle() {
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return m_thread.native_handle();
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}
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/**
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* Verifies a task still exists.
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*
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* @return true on success.
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*/
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bool Task::Verify() {
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TASK id = (TASK)m_thread.native_handle();
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return verifyTaskID(id) == OK;
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}
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/**
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* Gets the priority of a task.
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*
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* @return task priority or 0 if an error occured
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*/
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int32_t Task::GetPriority() {
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int priority;
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auto id = m_thread.native_handle();
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if (HandleError(getTaskPriority(&id, &priority)))
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return priority;
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else
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return 0;
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}
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/**
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* This routine changes a task's priority to a specified priority.
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* Priorities range from 1, the lowest priority, to 99, the highest priority.
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* Default task priority is 60.
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*
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* @param priority The priority at which the internal thread should run.
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* @return true on success.
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*/
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bool Task::SetPriority(int32_t priority) {
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auto id = m_thread.native_handle();
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return HandleError(setTaskPriority(&id, priority));
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}
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/**
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* Returns the name of the task.
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*
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* @return The name of the task.
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*/
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std::string Task::GetName() const { return m_taskName; }
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/**
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* Handles errors generated by task related code.
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*/
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bool Task::HandleError(STATUS results) {
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if (results != ERROR) return true;
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int errsv = errno;
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if (errsv == HAL_taskLib_ILLEGAL_PRIORITY) {
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wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
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} else {
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printf("ERROR: errno=%i", errsv);
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wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
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}
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return false;
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}
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