mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
41 lines
1.5 KiB
C++
41 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved.
|
|
*/
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "ErrorBase.h"
|
|
#include "HAL/cpp/Synchronized.hpp"
|
|
|
|
class MotorSafety;
|
|
|
|
class MotorSafetyHelper : public ErrorBase {
|
|
public:
|
|
MotorSafetyHelper(MotorSafety *safeObject);
|
|
~MotorSafetyHelper();
|
|
void Feed();
|
|
void SetExpiration(float expirationTime);
|
|
float GetExpiration() const;
|
|
bool IsAlive() const;
|
|
void Check();
|
|
void SetSafetyEnabled(bool enabled);
|
|
bool IsSafetyEnabled() const;
|
|
static void CheckMotors();
|
|
|
|
private:
|
|
double m_expiration; // the expiration time for this object
|
|
bool m_enabled; // true if motor safety is enabled for this motor
|
|
double m_stopTime; // the FPGA clock value when this motor has expired
|
|
mutable ReentrantSemaphore
|
|
m_syncMutex; // protect accesses to the state for this object
|
|
MotorSafety *m_safeObject; // the object that is using the helper
|
|
MotorSafetyHelper *
|
|
m_nextHelper; // next object in the list of MotorSafetyHelpers
|
|
static MotorSafetyHelper *
|
|
m_headHelper; // the head of the list of MotorSafetyHelper objects
|
|
static ReentrantSemaphore
|
|
m_listMutex; // protect accesses to the list of helpers
|
|
};
|