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