mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
fd4c169658
Implemented setTaskPriority() and getTaskPriority() in Task HAL API Removed all other unimplemented functions in HAL and removed spawnTask() Replaced instances of pthread_t* with TASK typedef Removed unused HAL error constants and removed commented-out classes and functions in wpilibj's HALLibrary Changed Task class API to match the construction semantics of a std::thread Change-Id: I3bc951a3da90d24c5589fae4d1ca2bb60225c873
58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "HAL/Task.hpp"
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#include <iostream>
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#include <string>
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#include <thread>
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/**
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* WPI task is a wrapper for the native Task object.
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* All WPILib tasks are managed by a static task manager for simplified cleanup.
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**/
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class Task : public ErrorBase {
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public:
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static const uint32_t kDefaultPriority = 60;
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Task() = default;
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Task(const Task&) = delete;
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Task& operator=(const Task&) = delete;
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Task& operator=(Task&& task);
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template <class Function, class... Args>
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Task(const char* name, Function&& function, Args&&... args);
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virtual ~Task();
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bool joinable() const noexcept;
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void join();
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void detach();
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std::thread::id get_id() const noexcept;
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std::thread::native_handle_type native_handle();
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bool Verify();
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int32_t GetPriority();
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/**
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* @param priority The priority at which the internal thread should run.
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* Must be within range 1 to 99 inclusive for pthreads.
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*/
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bool SetPriority(int32_t priority);
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std::string GetName() const;
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private:
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std::thread m_thread;
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std::string m_taskName;
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bool HandleError(STATUS results);
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};
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#include "Task.inc"
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