mirror of
https://github.com/wpilibsuite/allwpilib
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35 lines
1.4 KiB
C++
35 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 <atomic>
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#include "HAL/HAL.h"
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/**
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* Create and launch a task.
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*
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* @param name The name of the task. "FRC_" will be prepended to the task name.
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* @param function The address of the function to run as the new task.
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* @param args A parameter pack of arguments to pass to the function.
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*/
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template <class Function, class... Args>
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Task::Task(const std::string& name, Function&& function, Args&&... args) {
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m_taskName = "FRC_";
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m_taskName += name;
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std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
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m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
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std::forward<Args>(args)...);
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// TODO: lvuser does not currently have permissions to set the priority.
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// SetPriority(kDefaultPriority);
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static std::atomic<int32_t> instances{0};
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instances++;
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HALReport(HALUsageReporting::kResourceType_Task, instances, 0,
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m_taskName.c_str());
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}
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