artf4115: Added MotorSafety to Relays

Change-Id: Ia8d9ecfa21bb8102e73d91ec44791bd5141a0b4b

wpilibc/wpilibC++Devices/include/Relay.h

@@ -6,6 +6,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "MotorSafety.h"
 #include "SensorBase.h"
 #include "tables/ITableListener.h"
 #include "LiveWindow/LiveWindowSendable.h"
@@ -13,6 +14,8 @@
 
 #include <memory>
 
+class MotorSafetyHelper;
+
 /**
  * Class for Spike style relay outputs.
  * Relays are intended to be connected to spikes or similar relays. The relay
@@ -27,7 +30,8 @@
  * used independently
  * for something that does not care about voltage polatiry (like a solenoid).
  */
-class Relay : public SensorBase,
+class Relay : public MotorSafety,
+              public SensorBase,
               public ITableListener,
               public LiveWindowSendable {
  public:
@@ -39,6 +43,15 @@ class Relay : public SensorBase,
 
   void Set(Value value);
   Value Get() const;
+  uint32_t GetChannel() const;
+
+  void SetExpiration(float timeout) override;
+  float GetExpiration() const override;
+  bool IsAlive() const override;
+  void StopMotor() override;
+  bool IsSafetyEnabled() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  void GetDescription(std::ostringstream& desc) const override;
 
   void ValueChanged(ITable* source, llvm::StringRef key,
                     std::shared_ptr<nt::Value> value, bool isNew) override;
@@ -54,4 +67,6 @@ class Relay : public SensorBase,
  private:
   uint32_t m_channel;
   Direction m_direction;
+
+  std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
 };

wpilibc/wpilibC++Devices/src/Relay.cpp

@@ -8,6 +8,7 @@
 
 #include "Relay.h"
 
+#include "MotorSafetyHelper.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Resource.h"
 #include "WPIErrors.h"
@@ -64,6 +65,9 @@ Relay::Relay(uint32_t channel, Relay::Direction direction)
   setRelayReverse(m_relay_ports[m_channel], false, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 
+  m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+  m_safetyHelper->SetSafetyEnabled(false);
+
   LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
 }
 
@@ -192,17 +196,66 @@ Relay::Value Relay::Get() const {
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
+uint32_t Relay::GetChannel() const {
+  return m_channel;
+}
+
+/**
+ * Set the expiration time for the Relay object
+ * @param timeout The timeout (in seconds) for this relay object
+ */
+void Relay::SetExpiration(float timeout) {
+  m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the relay object.
+ * @return The expiration time value.
+ */
+float Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
+
+/**
+ * Check if the relay object is currently alive or stopped due to a timeout.
+ * @returns a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * relay and needs to stop it from running.
+ */
+void Relay::StopMotor() { Set(kOff); }
+
+/**
+ * Enable/disable motor safety for this device
+ * Turn on and off the motor safety option for this relay object.
+ * @param enabled True if motor safety is enforced for this object
+ */
+void Relay::SetSafetyEnabled(bool enabled) {
+  m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object
+ * @returns True if motor safety is enforced for this object
+ */
+bool Relay::IsSafetyEnabled() const {
+  return m_safetyHelper->IsSafetyEnabled();
+}
+
+void Relay::GetDescription(std::ostringstream& desc) const {
+  desc << "Relay " << GetChannel();
+}
+
 void Relay::ValueChanged(ITable* source, llvm::StringRef key,
                          std::shared_ptr<nt::Value> value, bool isNew) {
   if (!value->IsString()) return;
-  if (value->GetString() == "Off")
-    Set(kOff);
-  else if (value->GetString() == "On")
-    Set(kOn);
-  else if (value->GetString() == "Forward")
-    Set(kForward);
-  else if (value->GetString() == "Reverse")
-    Set(kReverse);
+  if (value->GetString() == "Off") Set(kOff);
+  else if (value->GetString() == "Forward") Set(kForward);
+  else if (value->GetString() == "Reverse") Set(kReverse);
+  else if (value->GetString() == "On") Set(kOn);
 }
 
 void Relay::UpdateTable() {

wpilibc/wpilibC++Sim/include/Relay.h

@@ -5,6 +5,7 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include "MotorSafety.h"
 #include "SensorBase.h"
 #include "simulation/SimContinuousOutput.h"
 #include "tables/ITableListener.h"
@@ -13,6 +14,7 @@
 
 #include <memory>
 
+class MotorSafetyHelper;
 class DigitalModule;
 
 /**
@@ -24,8 +26,10 @@ class DigitalModule;
  * variable speed.  It also allows the two channels (forward and reverse) to be used independently
  * for something that does not care about voltage polatiry (like a solenoid).
  */
-class Relay : public SensorBase, public ITableListener, public LiveWindowSendable
-{
+class Relay : public MotorSafety,
+              public SensorBase,
+              public ITableListener,
+              public LiveWindowSendable {
 public:
 	enum Value
 	{
@@ -46,6 +50,15 @@ public:
 
 	void Set(Value value);
 	Value Get() const;
+    uint32_t GetChannel() const;
+
+  void SetExpiration(float timeout) override;
+  float GetExpiration() const override;
+  bool IsAlive() const override;
+  void StopMotor() override;
+  bool IsSafetyEnabled() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  void GetDescription(std::ostringstream& desc) const override;
 
 	void ValueChanged(ITable* source, llvm::StringRef key,
                     std::shared_ptr<nt::Value> value, bool isNew) override;
@@ -61,6 +74,7 @@ public:
 private:
 	uint32_t m_channel;
 	Direction m_direction;
+    std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
 	SimContinuousOutput* impl;
 	bool go_pos, go_neg;
 };

wpilibc/wpilibC++Sim/src/Relay.cpp

@@ -6,6 +6,7 @@
 
 #include "Relay.h"
 
+#include "MotorSafetyHelper.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
@@ -30,6 +31,9 @@ Relay::Relay(uint32_t channel, Relay::Direction direction)
 		return;
 	}
 
+    m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
+    m_safetyHelper->SetSafetyEnabled(false);
+
 	sprintf(buf, "relay/%d", m_channel);
 	impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor.
 	LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this);
@@ -141,12 +145,65 @@ Relay::Value Relay::Get() const {
 	}
 }
 
+uint32_t Relay::GetChannel() const {
+  return m_channel;
+}
+
+/**
+ * Set the expiration time for the Relay object
+ * @param timeout The timeout (in seconds) for this relay object
+ */
+void Relay::SetExpiration(float timeout) {
+  m_safetyHelper->SetExpiration(timeout);
+}
+
+/**
+ * Return the expiration time for the relay object.
+ * @return The expiration time value.
+ */
+float Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
+
+/**
+ * Check if the relay object is currently alive or stopped due to a timeout.
+ * @returns a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
+
+/**
+ * Stop the motor associated with this PWM object.
+ * This is called by the MotorSafetyHelper object when it has a timeout for this
+ * relay and needs to stop it from running.
+ */
+void Relay::StopMotor() { Set(kOff); }
+
+/**
+ * Enable/disable motor safety for this device
+ * Turn on and off the motor safety option for this relay object.
+ * @param enabled True if motor safety is enforced for this object
+ */
+void Relay::SetSafetyEnabled(bool enabled) {
+  m_safetyHelper->SetSafetyEnabled(enabled);
+}
+
+/**
+ * Check if motor safety is enabled for this object
+ * @returns True if motor safety is enforced for this object
+ */
+bool Relay::IsSafetyEnabled() const {
+  return m_safetyHelper->IsSafetyEnabled();
+}
+
+void Relay::GetDescription(std::ostringstream& desc) const {
+  desc << "Relay " << GetChannel();
+}
+
 void Relay::ValueChanged(ITable* source, llvm::StringRef key,
                          std::shared_ptr<nt::Value> value, bool isNew) {
   if (!value->IsString()) return;
-	if (value->GetString() == "Off") Set(kOff);
-	else if (value->GetString() == "Forward") Set(kForward);
-	else if (value->GetString() == "Reverse") Set(kReverse);
+  if (value->GetString() == "Off") Set(kOff);
+  else if (value->GetString() == "Forward") Set(kForward);
+  else if (value->GetString() == "Reverse") Set(kReverse);
 }
 
 void Relay::UpdateTable() {

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -32,7 +32,8 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * allows the two channels (forward and reverse) to be used independently for
  * something that does not care about voltage polarity (like a solenoid).
  */
-public class Relay extends SensorBase implements LiveWindowSendable {
+public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable {
+  private MotorSafetyHelper m_safetyHelper;
 
   /**
    * This class represents errors in trying to set relay values contradictory to
@@ -142,6 +143,9 @@ public class Relay extends SensorBase implements LiveWindowSendable {
     m_port = DIOJNI.initializeDigitalPort(DIOJNI.getPort((byte) m_channel), status.asIntBuffer());
     HALUtil.checkStatus(status.asIntBuffer());
 
+    m_safetyHelper = new MotorSafetyHelper(this);
+    m_safetyHelper.setSafetyEnabled(false);
+
     LiveWindow.addActuator("Relay", m_channel, this);
   }
 
@@ -290,6 +294,50 @@ public class Relay extends SensorBase implements LiveWindowSendable {
     }
   }
 
+  /**
+   * Get the channel number.
+   *
+   * @return The channel number.
+   */
+  public int getChannel() {
+    return m_channel;
+  }
+
+  @Override
+  public void setExpiration(double timeout) {
+    m_safetyHelper.setExpiration(timeout);
+  }
+
+  @Override
+  public double getExpiration() {
+    return m_safetyHelper.getExpiration();
+  }
+
+  @Override
+  public boolean isAlive() {
+    return m_safetyHelper.isAlive();
+  }
+
+  @Override
+  public void stopMotor() {
+    set(Value.kOff);
+  }
+
+  @Override
+  public boolean isSafetyEnabled() {
+    return m_safetyHelper.isSafetyEnabled();
+  }
+
+  @Override
+  public void setSafetyEnabled(boolean enabled) {
+    m_safetyHelper.setSafetyEnabled(enabled);
+  }
+
+  @Override
+  public String getDescription() {
+    return "Relay ID " + getChannel();
+  }
+
   /**
    * Set the Relay Direction
    *

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -23,7 +23,8 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
  * allows the two channels (forward and reverse) to be used independently for
  * something that does not care about voltage polarity (like a solenoid).
  */
-public class Relay extends SensorBase implements LiveWindowSendable {
+public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable {
+    private MotorSafetyHelper m_safetyHelper;
 	/**
 	 * This class represents errors in trying to set relay values contradictory
 	 * to the direction to which the relay is set.
@@ -119,6 +120,10 @@ public class Relay extends SensorBase implements LiveWindowSendable {
 	private void initRelay() {
 		SensorBase.checkRelayChannel(m_channel);
 		impl = new SimSpeedController("simulator/relay/" + m_channel);
+
+        m_safetyHelper = new MotorSafetyHelper(this);
+        m_safetyHelper.setSafetyEnabled(false);
+
 		LiveWindow.addActuator("Relay", m_channel, this);
 	}
 
@@ -246,6 +251,50 @@ public class Relay extends SensorBase implements LiveWindowSendable {
 		}
 	}
 
+  /**
+   * Get the channel number.
+   *
+   * @return The channel number.
+   */
+  public int getChannel() {
+    return m_channel;
+  }
+
+  @Override
+  public void setExpiration(double timeout) {
+    m_safetyHelper.setExpiration(timeout);
+  }
+
+  @Override
+  public double getExpiration() {
+    return m_safetyHelper.getExpiration();
+  }
+
+  @Override
+  public boolean isAlive() {
+    return m_safetyHelper.isAlive();
+  }
+
+  @Override
+  public void stopMotor() {
+    set(Value.kOff);
+  }
+
+  @Override
+  public boolean isSafetyEnabled() {
+    return m_safetyHelper.isSafetyEnabled();
+  }
+
+  @Override
+  public void setSafetyEnabled(boolean enabled) {
+    m_safetyHelper.setSafetyEnabled(enabled);
+  }
+
+  @Override
+  public String getDescription() {
+    return "Relay ID " + getChannel();
+  }
+
 	/**
 	 * Set the Relay Direction
 	 *