artf4115: Added MotorSafety to Relays

Change-Id: Ia8d9ecfa21bb8102e73d91ec44791bd5141a0b4b

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
 	 *