Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/simulation/include/MotorSafetyHelper.h b/wpilibc/simulation/include/MotorSafetyHelper.h
new file mode 100644
index 0000000..bbe7658
--- /dev/null
+++ b/wpilibc/simulation/include/MotorSafetyHelper.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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/priority_mutex.h"
+
+#include <set>
+
+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 priority_recursive_mutex
+ m_syncMutex; // protect accesses to the state for this object
+ MotorSafety *m_safeObject; // the object that is using the helper
+ // List of all existing MotorSafetyHelper objects.
+ static std::set<MotorSafetyHelper*> m_helperList;
+ static priority_recursive_mutex
+ m_listMutex; // protect accesses to the list of helpers
+};