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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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60
wpilibc/src/main/native/cpp/MotorSafetyHelper.cpp
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@@ -20,18 +20,6 @@ using namespace frc;
std::set<MotorSafetyHelper*> MotorSafetyHelper::m_helperList;
wpi::mutex 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 Feed() method whenever the motors value is
* updated.
*
* @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;
@@ -47,54 +35,26 @@ MotorSafetyHelper::~MotorSafetyHelper() {
m_helperList.erase(this);
}
/**
* Feed the motor safety object.
*
* Resets the timer on this object that is used to do the timeouts.
*/
void MotorSafetyHelper::Feed() {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
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(double expirationTime) {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
m_expiration = expirationTime;
}
/**
* Retrieve the timeout value for the corresponding motor safety object.
*
* @return the timeout value in seconds.
*/
double MotorSafetyHelper::GetExpiration() const {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
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.
*/
bool MotorSafetyHelper::IsAlive() const {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
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 updated again.
*/
void MotorSafetyHelper::Check() {
bool enabled;
double stopTime;
@@ -118,36 +78,16 @@ void MotorSafetyHelper::Check() {
}
}
/**
* Enable/disable motor safety for this device
*
* 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) {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
m_enabled = enabled;
}
/**
* Return the state of the motor safety enabled flag
*
* 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 {
std::lock_guard<wpi::mutex> lock(m_thisMutex);
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 timed out.
*/
void MotorSafetyHelper::CheckMotors() {
std::lock_guard<wpi::mutex> lock(m_listMutex);
for (auto elem : m_helperList) {