/*----------------------------------------------------------------------------*/
/* 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

#define DEFAULT_SAFETY_EXPIRATION 0.1

#include <sstream>

class MotorSafety {
 public:
  virtual void SetExpiration(float timeout) = 0;
  virtual float GetExpiration() const = 0;
  virtual bool IsAlive() const = 0;
  virtual void StopMotor() = 0;
  virtual void SetSafetyEnabled(bool enabled) = 0;
  virtual bool IsSafetyEnabled() const = 0;
  virtual void GetDescription(std::ostringstream& desc) const = 0;
};