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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 FIRST. 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/Threads.h"
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#include <pthread.h>
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#include <sched.h>
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#include "hal/Errors.h"
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namespace hal {
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namespace init {
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void InitializeThreads() {}
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} // namespace init
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} // namespace hal
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extern "C" {
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int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
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int32_t* status) {
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sched_param sch;
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int policy;
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int success = pthread_getschedparam(*handle, &policy, &sch);
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if (success == 0) {
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*status = 0;
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} else {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return -1;
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}
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if (policy == SCHED_FIFO || policy == SCHED_RR) {
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*isRealTime = true;
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return sch.sched_priority;
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} else {
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*isRealTime = false;
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// 0 is the only suppored priority for non-realtime, so scale to 1
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return 1;
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}
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}
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int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
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auto thread = pthread_self();
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return HAL_GetThreadPriority(&thread, isRealTime, status);
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}
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HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
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int32_t priority, int32_t* status) {
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if (handle == nullptr) {
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*status = NULL_PARAMETER;
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return false;
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}
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int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER;
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if (realTime) {
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// We don't support setting priorities for non RT threads
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// so we don't need to check for proper range
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if (priority < sched_get_priority_min(scheduler) ||
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priority > sched_get_priority_max(scheduler)) {
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*status = HAL_THREAD_PRIORITY_RANGE_ERROR;
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return false;
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}
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}
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sched_param sch;
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int policy;
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pthread_getschedparam(*handle, &policy, &sch);
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if (scheduler == SCHED_FIFO || scheduler == SCHED_RR)
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sch.sched_priority = priority;
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else
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// Only need to set 0 priority for non RT thread
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sch.sched_priority = 0;
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if (pthread_setschedparam(*handle, scheduler, &sch)) {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return false;
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} else {
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*status = 0;
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return true;
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}
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}
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HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
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int32_t* status) {
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auto thread = pthread_self();
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return HAL_SetThreadPriority(&thread, realTime, priority, status);
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}
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} // extern "C"
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