mirror of
https://github.com/wpilibsuite/allwpilib
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6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <set>
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class MotorSafety;
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class MotorSafetyHelper : public ErrorBase {
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public:
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MotorSafetyHelper(MotorSafety *safeObject);
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~MotorSafetyHelper();
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void Feed();
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void SetExpiration(float expirationTime);
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float GetExpiration() const;
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bool IsAlive() const;
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void Check();
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void SetSafetyEnabled(bool enabled);
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bool IsSafetyEnabled() const;
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static void CheckMotors();
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private:
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double m_expiration; // the expiration time for this object
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bool m_enabled; // true if motor safety is enabled for this motor
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double m_stopTime; // the FPGA clock value when this motor has expired
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mutable priority_recursive_mutex
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m_syncMutex; // protect accesses to the state for this object
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MotorSafety *m_safeObject; // the object that is using the helper
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// List of all existing MotorSafetyHelper objects.
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static std::set<MotorSafetyHelper*> m_helperList;
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static priority_recursive_mutex
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m_listMutex; // protect accesses to the list of helpers
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};
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