This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/Robot2016/wpilib/cpp/current/include/MotorSafetyHelper.h

42 lines
1.5 KiB
C
Raw Normal View History

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ErrorBase.h"
#include "HAL/cpp/priority_mutex.h"
#include <set>
class MotorSafety;
class MotorSafetyHelper : public ErrorBase {
public:
MotorSafetyHelper(MotorSafety *safeObject);
~MotorSafetyHelper();
void Feed();
void SetExpiration(float expirationTime);
float GetExpiration() const;
bool IsAlive() const;
void Check();
void SetSafetyEnabled(bool enabled);
bool IsSafetyEnabled() const;
static void CheckMotors();
private:
double m_expiration; // the expiration time for this object
bool m_enabled; // true if motor safety is enabled for this motor
double m_stopTime; // the FPGA clock value when this motor has expired
mutable priority_recursive_mutex
m_syncMutex; // protect accesses to the state for this object
MotorSafety *m_safeObject; // the object that is using the helper
// List of all existing MotorSafetyHelper objects.
static std::set<MotorSafetyHelper*> m_helperList;
static priority_recursive_mutex
m_listMutex; // protect accesses to the list of helpers
};