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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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51
wpilibc/src/main/native/include/frc/Relay.h
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@@ -18,8 +18,6 @@
namespace frc {
class MotorSafetyHelper;
/**
* Class for Spike style relay outputs.
*
@@ -32,7 +30,7 @@ class MotorSafetyHelper;
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
class Relay : public MotorSafety, public ErrorBase, public SendableBase {
class Relay : public MotorSafety, public SendableBase {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -89,52 +87,9 @@ class Relay : public MotorSafety, public ErrorBase, public SendableBase {
int GetChannel() const;
/**
* Set the expiration time for the Relay object.
*
* @param timeout The timeout (in seconds) for this relay object
*/
void SetExpiration(double timeout) override;
/**
* Return the expiration time for the relay object.
*
* @return The expiration time value.
*/
double GetExpiration() const override;
/**
* Check if the relay object is currently alive or stopped due to a timeout.
*
* @return a bool value that is true if the motor has NOT timed out and should
* still be running.
*/
bool IsAlive() const override;
/**
* 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.
*/
// MotorSafety interface
void StopMotor() override;
/**
* 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 SetSafetyEnabled(bool enabled) override;
/**
* Check if motor safety is enabled for this object.
*
* @returns True if motor safety is enforced for this object
*/
bool IsSafetyEnabled() const override;
void GetDescription(wpi::raw_ostream& desc) const override;
void InitSendable(SendableBuilder& builder) override;
@@ -145,8 +100,6 @@ class Relay : public MotorSafety, public ErrorBase, public SendableBase {
HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
};
} // namespace frc