mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
101 lines
2.8 KiB
C++
101 lines
2.8 KiB
C++
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#include "HAL/Task.h"
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#include "HAL/HAL.h"
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#include "ChipObject.h"
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#include <stdio.h>
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#include <signal.h>
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const uint32_t VXWORKS_FP_TASK = 0x01000000;
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const int32_t HAL_objLib_OBJ_ID_ERROR = -1; // TODO: update to relevant TaskIDError
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const int32_t HAL_objLib_OBJ_DELETED = -1; // TODO: update to relevant TaskDeletedError
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const int32_t HAL_taskLib_ILLEGAL_OPTIONS = -1; // TODO: update to relevant TaskOptionsError
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const int32_t HAL_memLib_NOT_ENOUGH_MEMORY = -1; // TODO: update to relevant TaskMemoryError
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const int32_t HAL_taskLib_ILLEGAL_PRIORITY = -1; // TODO: update to relevant TaskPriorityError
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typedef struct task_args_t {
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FUNCPTR fun;
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char* name;
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pthread_t** task;
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uint32_t arg0, arg1, arg2, arg3, arg4,
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arg5, arg6, arg7, arg8, arg9;
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} TaskArgs;
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void* startRoutine(void* data) {
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TaskArgs* args = (TaskArgs*) data;
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printf("[HAL] Starting task %s...\n", args->name);
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int val = args->fun(args->arg0, args->arg1, args->arg2, args->arg3, args->arg4,
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args->arg5, args->arg6, args->arg7, args->arg8, args->arg9);
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printf("[HAL] Exited task %s with code %i\n", args->name, val);
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*args->task = NULL;
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int* ret = new int(); *ret = val;
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return ret;
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}
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TASK spawnTask(char * name, int priority, int options, int stackSize,
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FUNCPTR entryPt, uint32_t arg0, uint32_t arg1, uint32_t arg2,
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uint32_t arg3, uint32_t arg4, uint32_t arg5, uint32_t arg6,
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uint32_t arg7, uint32_t arg8, uint32_t arg9) {
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printf("[HAL] Spawning task %s...\n", name);
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pthread_t* task = new pthread_t;
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pthread_attr_t* attr = new pthread_attr_t;
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pthread_attr_init(attr);
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TaskArgs* args = new TaskArgs();
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args->fun = entryPt;
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args->name = name;
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args->task = new pthread_t*;
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*args->task = task;
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args->arg0 = arg0; args->arg1 = arg1; args->arg2 = arg2; args->arg3 = arg3; args->arg4 = arg4;
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args->arg5 = arg5; args->arg6 = arg6; args->arg7 = arg7; args->arg8 = arg8; args->arg9 = arg9;
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if (pthread_create(task, attr, startRoutine, args) == 0) {
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printf("[HAL] Success\n");
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pthread_detach(*task);
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} else {
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printf("[HAL] Failure\n");
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task = NULL;
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}
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pthread_attr_destroy(attr);
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return task;
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}
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STATUS restartTask(TASK task) {
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return ERROR; // TODO: implement;
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}
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STATUS deleteTask(TASK task) {
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return ERROR; // TODO: implement
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}
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STATUS isTaskReady(TASK task) {
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return ERROR; // TODO: implement
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}
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STATUS isTaskSuspended(TASK task) {
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return ERROR; // TODO: implement
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}
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STATUS suspendTask(TASK task) {
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return ERROR; // TODO: implement
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}
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STATUS resumeTask(TASK task) {
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return ERROR; // TODO: implement
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}
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STATUS verifyTaskID(TASK task) {
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if (task != NULL && 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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return ERROR; // TODO: implement
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}
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STATUS getTaskPriority(TASK task, int* priority) {
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return ERROR; // TODO: implement
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}
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