mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <set>
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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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double m_expiration; // the expiration time for this object
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bool m_enabled; // true if motor safety is enabled for this motor
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double m_stopTime; // the FPGA clock value when this motor has expired
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mutable priority_recursive_mutex
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m_syncMutex; // protect accesses to the state for this object
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MotorSafety *m_safeObject; // the object that is using the helper
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// List of all existing MotorSafetyHelper objects.
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static std::set<MotorSafetyHelper*> m_helperList;
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static priority_recursive_mutex
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m_listMutex; // protect accesses to the list of helpers
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};
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