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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
49 lines
1.5 KiB
C++
49 lines
1.5 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(float expirationTime);
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float 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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MotorSafety* m_safeObject; // the object that is using the helper
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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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