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https://github.com/wpilibsuite/allwpilib
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124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <string>
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#include <units/time.h>
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#include <wpi/mutex.h>
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#include "frc/Timer.h"
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namespace frc {
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/**
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* The Motor Safety feature acts as a watchdog timer for an individual motor. It
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* operates by maintaining a timer that tracks how long it has been since the
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* feed() method has been called for that actuator. Code in the Driver Station
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* class initiates a comparison of these timers to the timeout values for any
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* actuator with safety enabled every 5 received packets (100ms nominal).
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*
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* The subclass should call Feed() whenever the motor value is updated.
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*/
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class MotorSafety {
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public:
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MotorSafety();
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virtual ~MotorSafety();
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MotorSafety(MotorSafety&& rhs);
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MotorSafety& operator=(MotorSafety&& rhs);
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/**
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* Feed the motor safety object.
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*
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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 Feed();
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/**
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* Set the expiration time for the corresponding motor safety object.
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*
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* @param expirationTime The timeout value.
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*/
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void SetExpiration(units::second_t expirationTime);
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/**
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* Retrieve the timeout value for the corresponding motor safety object.
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*
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* @return the timeout value.
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*/
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units::second_t GetExpiration() const;
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/**
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* Determine if the motor is still operating or has timed out.
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*
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* @return true if the motor is still operating normally and hasn't timed out.
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*/
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bool IsAlive() const;
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/**
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* Enable/disable motor safety for this device.
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*
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* Turn on and off the motor safety option for this PWM object.
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*
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* @param enabled True if motor safety is enforced for this object.
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*/
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void SetSafetyEnabled(bool enabled);
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/**
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* Return the state of the motor safety enabled flag.
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*
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* Return if the motor safety is currently enabled for this device.
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*
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* @return True if motor safety is enforced for this device.
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*/
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bool IsSafetyEnabled() const;
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/**
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* Check if this motor has exceeded its timeout.
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*
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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 Check();
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/**
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* Check the motors to see if any have timed out.
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*
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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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static void CheckMotors();
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/**
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* Called to stop the motor when the timeout expires.
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*/
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virtual void StopMotor() = 0;
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/**
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* Returns a description to print when an error occurs.
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*
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* @return Description to print when an error occurs.
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*/
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virtual std::string GetDescription() const = 0;
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private:
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static constexpr auto kDefaultSafetyExpiration = 100_ms;
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// The expiration time for this object
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units::second_t m_expiration = kDefaultSafetyExpiration;
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// True if motor safety is enabled for this motor
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bool m_enabled = false;
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// The FPGA clock value when the motor has expired
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units::second_t m_stopTime = Timer::GetFPGATimestamp();
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mutable wpi::mutex m_thisMutex;
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};
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} // namespace frc
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