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https://github.com/wpilibsuite/allwpilib
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126 lines
3.5 KiB
C++
126 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 <wpi/mutex.h>
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#include "ErrorBase.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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/**
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* The constructor for a MotorSafetyHelper object.
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*
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* The helper object is constructed for every object that wants to implement
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* the Motor Safety protocol. The helper object has the code to actually do
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* the timing and call the motors Stop() method when the timeout expires. The
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* motor object is expected to call the Feed() method whenever the motors
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* value is updated.
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*
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* @param safeObject a pointer to the motor object implementing MotorSafety.
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* This is used to call the Stop() method on the motor.
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*/
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explicit MotorSafetyHelper(MotorSafety* safeObject);
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~MotorSafetyHelper();
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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 in seconds.
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*/
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void SetExpiration(double 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 in seconds.
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*/
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double 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 a true value if the motor is still operating normally and hasn't
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* timed out.
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*/
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bool IsAlive() 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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* 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 devicce.
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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 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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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 wpi::mutex m_thisMutex;
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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 wpi::mutex m_listMutex;
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};
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} // namespace frc
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