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FRC2016-old/wpilib/cpp/current/include/Task.inc

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/HAL.hpp"
#include <atomic>
/**
* Create and launch a task.
*
* @param name The name of the task. "FRC_" will be prepended to the task name.
* @param function The address of the function to run as the new task.
* @param args A parameter pack of arguments to pass to the function.
*/
template <class Function, class... Args>
Task::Task(const std::string& name, Function&& function, Args&&... args) {
m_taskName = "FRC_";
m_taskName += name;
std::cout << "[HAL] Starting task " << m_taskName << "..." << std::endl;
m_thread = std::thread(std::forward<std::decay_t<Function>>(function),
std::forward<Args>(args)...);
//TODO: lvuser does not currently have permissions to set the priority.
//SetPriority(kDefaultPriority);
static std::atomic<int32_t> instances{0};
instances++;
HALReport(HALUsageReporting::kResourceType_Task, instances, 0, m_taskName.c_str());
}