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36 lines
1.4 KiB
C++
36 lines
1.4 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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#pragma once
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#include "ErrorBase.h"
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#include "HAL/cpp/Synchronized.hpp"
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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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