mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
46 lines
1.5 KiB
C++
46 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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class MotorSafety;
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class MotorSafetyHelper : public ErrorBase {
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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() 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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