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https://github.com/wpilibsuite/allwpilib
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f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
93 lines
2.6 KiB
C++
93 lines
2.6 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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#include "SafePWM.h"
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using namespace frc;
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/**
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* Constructor for a SafePWM object taking a channel number.
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*
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* @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP
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* port
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*/
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SafePWM::SafePWM(int channel) : PWM(channel) {
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m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
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m_safetyHelper->SetSafetyEnabled(false);
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}
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/**
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* Set the expiration time for the PWM object.
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*
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* @param timeout The timeout (in seconds) for this motor object
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*/
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void SafePWM::SetExpiration(double timeout) {
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m_safetyHelper->SetExpiration(timeout);
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}
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/**
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* Return the expiration time for the PWM object.
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*
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* @returns The expiration time value.
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*/
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double SafePWM::GetExpiration() const {
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return m_safetyHelper->GetExpiration();
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}
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/**
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* Check if the PWM object is currently alive or stopped due to a timeout.
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*
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* @return a bool value that is true if the motor has NOT timed out and should
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* still be running.
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*/
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bool SafePWM::IsAlive() const { return m_safetyHelper->IsAlive(); }
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/**
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* Stop the motor associated with this PWM object.
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*
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* This is called by the MotorSafetyHelper object when it has a timeout for this
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* PWM and needs to stop it from running.
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*/
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void SafePWM::StopMotor() { SetDisabled(); }
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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 SafePWM::SetSafetyEnabled(bool enabled) {
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m_safetyHelper->SetSafetyEnabled(enabled);
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}
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/**
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* Check if motor safety is enabled for this object.
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*
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* @returns True if motor safety is enforced for this object
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*/
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bool SafePWM::IsSafetyEnabled() const {
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return m_safetyHelper->IsSafetyEnabled();
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}
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void SafePWM::GetDescription(wpi::raw_ostream& desc) const {
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desc << "PWM " << GetChannel();
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}
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/**
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* Feed the MotorSafety timer when setting the speed.
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*
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* This method is called by the subclass motor whenever it updates its speed,
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* thereby reseting the timeout value.
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*
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* @param speed Value to pass to the PWM class
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*/
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void SafePWM::SetSpeed(double speed) {
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PWM::SetSpeed(speed);
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m_safetyHelper->Feed();
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}
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