mirror of
https://github.com/wpilibsuite/allwpilib
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139 lines
4.6 KiB
C++
139 lines
4.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "MotorSafetyHelper.h"
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#include <llvm/SmallString.h>
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#include <llvm/raw_ostream.h>
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#include "DriverStation.h"
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#include "MotorSafety.h"
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#include "Timer.h"
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#include "WPIErrors.h"
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using namespace frc;
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std::set<MotorSafetyHelper*> MotorSafetyHelper::m_helperList;
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hal::priority_recursive_mutex MotorSafetyHelper::m_listMutex;
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/**
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* The constructor for a MotorSafetyHelper object.
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*
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* The helper object is constructed for every object that wants to implement the
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* Motor Safety protocol. The helper object has the code to actually do the
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* timing and call the motors Stop() method when the timeout expires. The motor
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* object is expected to call the Feed() method whenever the motors value is
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* updated.
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*
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* @param safeObject a pointer to the motor object implementing MotorSafety.
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* This is used to call the Stop() method on the motor.
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*/
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MotorSafetyHelper::MotorSafetyHelper(MotorSafety* safeObject)
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: m_safeObject(safeObject) {
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m_enabled = false;
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m_expiration = DEFAULT_SAFETY_EXPIRATION;
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m_stopTime = Timer::GetFPGATimestamp();
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std::lock_guard<hal::priority_recursive_mutex> sync(m_listMutex);
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m_helperList.insert(this);
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}
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MotorSafetyHelper::~MotorSafetyHelper() {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_listMutex);
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m_helperList.erase(this);
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}
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/**
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* Feed the motor safety object.
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* Resets the timer on this object that is used to do the timeouts.
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*/
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void MotorSafetyHelper::Feed() {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
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}
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/**
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* Set the expiration time for the corresponding motor safety object.
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* @param expirationTime The timeout value in seconds.
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*/
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void MotorSafetyHelper::SetExpiration(double expirationTime) {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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m_expiration = expirationTime;
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}
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/**
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* Retrieve the timeout value for the corresponding motor safety object.
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* @return the timeout value in seconds.
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*/
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double MotorSafetyHelper::GetExpiration() const {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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return m_expiration;
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}
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/**
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* Determine if the motor is still operating or has timed out.
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* @return a true value if the motor is still operating normally and hasn't
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* timed out.
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*/
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bool MotorSafetyHelper::IsAlive() const {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
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}
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/**
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* Check if this motor has exceeded its timeout.
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* This method is called periodically to determine if this motor has exceeded
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* its timeout value. If it has, the stop method is called, and the motor is
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* shut down until its value is updated again.
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*/
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void MotorSafetyHelper::Check() {
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DriverStation& ds = DriverStation::GetInstance();
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if (!m_enabled || ds.IsDisabled() || ds.IsTest()) return;
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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if (m_stopTime < Timer::GetFPGATimestamp()) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream desc(buf);
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m_safeObject->GetDescription(desc);
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desc << "... Output not updated often enough.";
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wpi_setWPIErrorWithContext(Timeout, desc.str());
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m_safeObject->StopMotor();
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}
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}
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/**
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* Enable/disable motor safety for this device
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* Turn on and off the motor safety option for this PWM object.
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* @param enabled True if motor safety is enforced for this object
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*/
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void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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m_enabled = enabled;
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}
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/**
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* Return the state of the motor safety enabled flag
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* Return if the motor safety is currently enabled for this devicce.
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* @return True if motor safety is enforced for this device
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*/
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bool MotorSafetyHelper::IsSafetyEnabled() const {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_syncMutex);
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return m_enabled;
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}
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/**
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* Check the motors to see if any have timed out.
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* This static method is called periodically to poll all the motors and stop
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* any that have timed out.
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*/
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void MotorSafetyHelper::CheckMotors() {
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std::lock_guard<hal::priority_recursive_mutex> sync(m_listMutex);
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for (auto elem : m_helperList) {
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elem->Check();
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}
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}
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