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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
50 lines
1.6 KiB
C++
50 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <set>
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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namespace frc {
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class MotorSafety;
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class MotorSafetyHelper : public ErrorBase {
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public:
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explicit MotorSafetyHelper(MotorSafety* safeObject);
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~MotorSafetyHelper();
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void Feed();
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void SetExpiration(double expirationTime);
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double 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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// the expiration time for this object
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double m_expiration;
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// true if motor safety is enabled for this motor
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bool m_enabled;
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// the FPGA clock value when this motor has expired
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double m_stopTime;
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// protect accesses to the state for this object
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mutable priority_recursive_mutex m_syncMutex;
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// the object that is using the helper
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MotorSafety* m_safeObject;
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// List of all existing MotorSafetyHelper objects.
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static std::set<MotorSafetyHelper*> m_helperList;
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// protect accesses to the list of helpers
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static priority_recursive_mutex m_listMutex;
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};
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} // namespace frc
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