mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
2c94d0ba2f
Replaced all uses of built-in types except char with stdint.h typedefs and all unsigned types with signed in the HAL
60 lines
1.5 KiB
C++
60 lines
1.5 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.h"
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#include <signal.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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extern "C" {
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STATUS HAL_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 HAL_SetTaskPriority(TASK task, int32_t priority) {
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int32_t policy = 0;
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struct sched_param param;
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if (HAL_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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} else {
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return ERROR;
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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 HAL_GetTaskPriority(TASK task, int32_t* priority) {
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int32_t policy = 0;
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struct sched_param param;
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if (HAL_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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} 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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