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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
40 lines
1.5 KiB
C++
40 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __MOTOR_SAFETY_HELPER__
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#define __MOTOR_SAFETY_HELPER__
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#include "ErrorBase.h"
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#include "HAL/cpp/Synchronized.h"
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class MotorSafety;
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class MotorSafetyHelper : public ErrorBase
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{
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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();
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bool IsAlive();
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void Check();
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void SetSafetyEnabled(bool enabled);
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bool IsSafetyEnabled();
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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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ReentrantSemaphore 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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MotorSafetyHelper *m_nextHelper; // next object in the list of MotorSafetyHelpers
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static MotorSafetyHelper *m_headHelper; // the head of the list of MotorSafetyHelper objects
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static ReentrantSemaphore m_listMutex; // protect accesses to the list of helpers
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};
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#endif
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