mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
60 lines
1.4 KiB
C++
60 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.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 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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} 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 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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} 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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