From b2a8d3f0f35790e004635df129f8aa75ad9b7cde Mon Sep 17 00:00:00 2001
From: Dustin Spicuzza <dustin@virtualroadside.com>
Date: Sat, 19 Feb 2022 23:38:30 -0500
Subject: [PATCH] [wpilibc] Add mechanism to reset MotorSafety list (#4037)

---
 wpilibc/src/main/native/cpp/MotorSafety.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/MotorSafety.cpp b/wpilibc/src/main/native/cpp/MotorSafety.cpp
index 9cb28cd1f5..91b4dfb328 100644
--- a/wpilibc/src/main/native/cpp/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/MotorSafety.cpp
@@ -17,6 +17,15 @@ using namespace frc;
 static wpi::SmallPtrSet<MotorSafety*, 32> instanceList;
 static wpi::mutex listMutex;
 
+#ifndef __FRC_ROBORIO__
+namespace frc::impl {
+void ResetMotorSafety() {
+  std::scoped_lock lock(listMutex);
+  instanceList.clear();
+}
+}  // namespace frc::impl
+#endif
+
 MotorSafety::MotorSafety() {
   std::scoped_lock lock(listMutex);
   instanceList.insert(this);