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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.
68 lines
2.2 KiB
C++
68 lines
2.2 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 <memory>
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#include <HAL/Types.h>
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#include <wpi/raw_ostream.h>
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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class MotorSafetyHelper;
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/**
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* Class for Spike style relay outputs.
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*
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* Relays are intended to be connected to spikes or similar relays. The relay
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* channels controls a pair of pins that are either both off, one on, the other
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* on, or both on. This translates into two spike outputs at 0v, one at 12v and
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* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
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* allows off, full forward, or full reverse control of motors without variable
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* speed. It also allows the two channels (forward and reverse) to be used
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* independently for something that does not care about voltage polarity (like
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* a solenoid).
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*/
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class Relay : public MotorSafety, public ErrorBase, public SendableBase {
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public:
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enum Value { kOff, kOn, kForward, kReverse };
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enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
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explicit Relay(int channel, Direction direction = kBothDirections);
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~Relay() override;
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void Set(Value value);
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Value Get() const;
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int GetChannel() const;
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void SetExpiration(double timeout) override;
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double GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_channel;
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Direction m_direction;
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HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
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HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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};
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} // namespace frc
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