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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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152
wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
@@ -18,105 +19,98 @@ ReentrantSemaphore MotorSafetyHelper::m_listMutex;
/**
* The constructor for a MotorSafetyHelper object.
* The helper object is constructed for every object that wants to implement the Motor
* Safety protocol. The helper object has the code to actually do the timing and call the
* motors Stop() method when the timeout expires. The motor object is expected to call the
* The helper object is constructed for every object that wants to implement the
* Motor
* Safety protocol. The helper object has the code to actually do the timing and
* call the
* motors Stop() method when the timeout expires. The motor object is expected
* to call the
* Feed() method whenever the motors value is updated.
* @param safeObject a pointer to the motor object implementing MotorSafety. This is used
* @param safeObject a pointer to the motor object implementing MotorSafety.
* This is used
* to call the Stop() method on the motor.
*/
MotorSafetyHelper::MotorSafetyHelper(MotorSafety *safeObject)
{
m_safeObject = safeObject;
m_enabled = false;
m_expiration = DEFAULT_SAFETY_EXPIRATION;
m_stopTime = Timer::GetFPGATimestamp();
MotorSafetyHelper::MotorSafetyHelper(MotorSafety *safeObject) {
m_safeObject = safeObject;
m_enabled = false;
m_expiration = DEFAULT_SAFETY_EXPIRATION;
m_stopTime = Timer::GetFPGATimestamp();
Synchronized sync(m_listMutex);
m_nextHelper = m_headHelper;
m_headHelper = this;
Synchronized sync(m_listMutex);
m_nextHelper = m_headHelper;
m_headHelper = this;
}
MotorSafetyHelper::~MotorSafetyHelper()
{
Synchronized sync(m_listMutex);
if (m_headHelper == this)
{
m_headHelper = m_nextHelper;
}
else
{
MotorSafetyHelper *prev = NULL;
MotorSafetyHelper *cur = m_headHelper;
while (cur != this && cur != NULL)
prev = cur, cur = cur->m_nextHelper;
if (cur == this)
prev->m_nextHelper = cur->m_nextHelper;
}
MotorSafetyHelper::~MotorSafetyHelper() {
Synchronized sync(m_listMutex);
if (m_headHelper == this) {
m_headHelper = m_nextHelper;
} else {
MotorSafetyHelper *prev = NULL;
MotorSafetyHelper *cur = m_headHelper;
while (cur != this && cur != NULL) prev = cur, cur = cur->m_nextHelper;
if (cur == this) prev->m_nextHelper = cur->m_nextHelper;
}
}
/**
* Feed the motor safety object.
* Resets the timer on this object that is used to do the timeouts.
*/
void MotorSafetyHelper::Feed()
{
Synchronized sync(m_syncMutex);
m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
void MotorSafetyHelper::Feed() {
Synchronized sync(m_syncMutex);
m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
}
/**
* Set the expiration time for the corresponding motor safety object.
* @param expirationTime The timeout value in seconds.
*/
void MotorSafetyHelper::SetExpiration(float expirationTime)
{
Synchronized sync(m_syncMutex);
m_expiration = expirationTime;
void MotorSafetyHelper::SetExpiration(float expirationTime) {
Synchronized sync(m_syncMutex);
m_expiration = expirationTime;
}
/**
* Retrieve the timeout value for the corresponding motor safety object.
* @return the timeout value in seconds.
*/
float MotorSafetyHelper::GetExpiration() const
{
Synchronized sync(m_syncMutex);
return m_expiration;
float MotorSafetyHelper::GetExpiration() const {
Synchronized sync(m_syncMutex);
return m_expiration;
}
/**
* Determine if the motor is still operating or has timed out.
* @return a true value if the motor is still operating normally and hasn't timed out.
* @return a true value if the motor is still operating normally and hasn't
* timed out.
*/
bool MotorSafetyHelper::IsAlive() const
{
Synchronized sync(m_syncMutex);
return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
bool MotorSafetyHelper::IsAlive() const {
Synchronized sync(m_syncMutex);
return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
}
/**
* Check if this motor has exceeded its timeout.
* This method is called periodically to determine if this motor has exceeded its timeout
* value. If it has, the stop method is called, and the motor is shut down until its value is
* This method is called periodically to determine if this motor has exceeded
* its timeout
* value. If it has, the stop method is called, and the motor is shut down until
* its value is
* updated again.
*/
void MotorSafetyHelper::Check()
{
DriverStation *ds = DriverStation::GetInstance();
if (!m_enabled || ds->IsDisabled() || ds->IsTest()) return;
void MotorSafetyHelper::Check() {
DriverStation *ds = DriverStation::GetInstance();
if (!m_enabled || ds->IsDisabled() || ds->IsTest()) return;
Synchronized sync(m_syncMutex);
if (m_stopTime < Timer::GetFPGATimestamp())
{
char buf[128];
char desc[64];
m_safeObject->GetDescription(desc);
snprintf(buf, 128, "%s... Output not updated often enough.", desc);
wpi_setWPIErrorWithContext(Timeout, buf);
m_safeObject->StopMotor();
}
Synchronized sync(m_syncMutex);
if (m_stopTime < Timer::GetFPGATimestamp()) {
char buf[128];
char desc[64];
m_safeObject->GetDescription(desc);
snprintf(buf, 128, "%s... Output not updated often enough.", desc);
wpi_setWPIErrorWithContext(Timeout, buf);
m_safeObject->StopMotor();
}
}
/**
@@ -124,10 +118,9 @@ void MotorSafetyHelper::Check()
* Turn on and off the motor safety option for this PWM object.
* @param enabled True if motor safety is enforced for this object
*/
void MotorSafetyHelper::SetSafetyEnabled(bool enabled)
{
Synchronized sync(m_syncMutex);
m_enabled = enabled;
void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
Synchronized sync(m_syncMutex);
m_enabled = enabled;
}
/**
@@ -135,22 +128,21 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled)
* Return if the motor safety is currently enabled for this devicce.
* @return True if motor safety is enforced for this device
*/
bool MotorSafetyHelper::IsSafetyEnabled() const
{
Synchronized sync(m_syncMutex);
return m_enabled;
bool MotorSafetyHelper::IsSafetyEnabled() const {
Synchronized sync(m_syncMutex);
return m_enabled;
}
/**
* Check the motors to see if any have timed out.
* This static method is called periodically to poll all the motors and stop any that have
* This static method is called periodically to poll all the motors and stop
* any that have
* timed out.
*/
void MotorSafetyHelper::CheckMotors()
{
Synchronized sync(m_listMutex);
for (MotorSafetyHelper *msh = m_headHelper; msh != NULL; msh = msh->m_nextHelper)
{
msh->Check();
}
void MotorSafetyHelper::CheckMotors() {
Synchronized sync(m_listMutex);
for (MotorSafetyHelper *msh = m_headHelper; msh != NULL;
msh = msh->m_nextHelper) {
msh->Check();
}
}