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Remove MotorSafetyHelper, create MotorSafety base class instead (#562)

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Most of the MotorSafety implementation was moved into the MotorSafety base
class. SafePWM's inheritance of MotorSafety was moved into PWM to
eliminate Java needing a helper class.

In Java, a helper class for Sendable (SendableImpl) was added due to
lack of multiple inheritance.
This commit is contained in:
Tyler Veness
2018-11-22 21:15:26 -08:00
committed by Peter Johnson
parent df347e3d80
commit acb786a791
39 changed files with 710 additions and 1023 deletions
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26
wpilibc/src/main/native/cpp/Relay.cpp
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@@ -14,7 +14,6 @@
#include <hal/Relay.h>
#include <wpi/raw_ostream.h>
#include "frc/MotorSafetyHelper.h"
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
@@ -77,9 +76,6 @@ Relay::Relay(int channel, Relay::Direction direction)
}
}
m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
m_safetyHelper->SetSafetyEnabled(false);
SetName("Relay", m_channel);
}
@@ -94,25 +90,21 @@ Relay::~Relay() {
Relay::Relay(Relay&& rhs)
: MotorSafety(std::move(rhs)),
ErrorBase(std::move(rhs)),
SendableBase(std::move(rhs)),
m_channel(std::move(rhs.m_channel)),
m_direction(std::move(rhs.m_direction)),
m_safetyHelper(std::move(rhs.m_safetyHelper)) {
m_direction(std::move(rhs.m_direction)) {
std::swap(m_forwardHandle, rhs.m_forwardHandle);
std::swap(m_reverseHandle, rhs.m_reverseHandle);
}
Relay& Relay::operator=(Relay&& rhs) {
MotorSafety::operator=(std::move(rhs));
ErrorBase::operator=(std::move(rhs));
SendableBase::operator=(std::move(rhs));
m_channel = std::move(rhs.m_channel);
m_direction = std::move(rhs.m_direction);
std::swap(m_forwardHandle, rhs.m_forwardHandle);
std::swap(m_reverseHandle, rhs.m_reverseHandle);
m_safetyHelper = std::move(rhs.m_safetyHelper);
return *this;
}
@@ -204,24 +196,8 @@ Relay::Value Relay::Get() const {
int Relay::GetChannel() const { return m_channel; }
void Relay::SetExpiration(double timeout) {
m_safetyHelper->SetExpiration(timeout);
}
double Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
void Relay::StopMotor() { Set(kOff); }
void Relay::SetSafetyEnabled(bool enabled) {
m_safetyHelper->SetSafetyEnabled(enabled);
}
bool Relay::IsSafetyEnabled() const {
return m_safetyHelper->IsSafetyEnabled();
}
void Relay::GetDescription(wpi::raw_ostream& desc) const {
desc << "Relay " << GetChannel();
}