Chop out the MotorDanger junk
It had race conditions, and the inheritance hierarchy is a mess.
Change-Id: I4566ee5d7a53ec162c885a70bef3e2774555eef7
diff --git a/third_party/allwpilib_2017/BUILD b/third_party/allwpilib_2017/BUILD
index 054ef08..1903912 100644
--- a/third_party/allwpilib_2017/BUILD
+++ b/third_party/allwpilib_2017/BUILD
@@ -46,6 +46,11 @@
'ADXRS450_Gyro',
'GyroBase',
'IterativeRobot',
+ 'MotorSafety',
+ 'MotorSafetyHelper',
+ 'SafePWM',
+ 'SpeedController',
+ 'PWMSpeedController',
]
# Whole subdirectories of WPILib we don't want around.
diff --git a/third_party/allwpilib_2017/wpilibc/athena/include/Relay.h b/third_party/allwpilib_2017/wpilibc/athena/include/Relay.h
index 6d7f877..de550d2 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/include/Relay.h
+++ b/third_party/allwpilib_2017/wpilibc/athena/include/Relay.h
@@ -11,13 +11,10 @@
#include <string>
#include "HAL/Types.h"
-#include "MotorSafety.h"
#include "SensorBase.h"
namespace frc {
-class MotorSafetyHelper;
-
/**
* Class for Spike style relay outputs.
* Relays are intended to be connected to spikes or similar relays. The relay
@@ -29,8 +26,7 @@
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
-class Relay : public MotorSafety,
- public SensorBase {
+class Relay : public SensorBase {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -42,22 +38,12 @@
Value Get() const;
int GetChannel() const;
- void SetExpiration(double timeout) override;
- double GetExpiration() const override;
- bool IsAlive() const override;
- void StopMotor() override;
- bool IsSafetyEnabled() const override;
- void SetSafetyEnabled(bool enabled) override;
- void GetDescription(std::ostringstream& desc) const override;
-
private:
int m_channel;
Direction m_direction;
HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
-
- std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
};
} // namespace frc
diff --git a/third_party/allwpilib_2017/wpilibc/athena/include/Talon.h b/third_party/allwpilib_2017/wpilibc/athena/include/Talon.h
index 793d77b..6b8fb7f 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/include/Talon.h
+++ b/third_party/allwpilib_2017/wpilibc/athena/include/Talon.h
@@ -7,14 +7,14 @@
#pragma once
-#include "PWMSpeedController.h"
+#include "PWM.h"
namespace frc {
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
*/
-class Talon : public PWMSpeedController {
+class Talon : public PWM {
public:
explicit Talon(int channel);
virtual ~Talon() = default;
diff --git a/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp b/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
index 95d20b7..521cf3b 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
+++ b/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
@@ -14,7 +14,6 @@
#include "HAL/HAL.h"
#include "HAL/Power.h"
#include "HAL/cpp/Log.h"
-#include "MotorSafetyHelper.h"
#include "Timer.h"
#include "Utility.h"
#include "WPIErrors.h"
@@ -588,7 +587,6 @@
void DriverStation::Run() {
m_isRunning = true;
- int period = 0;
while (m_isRunning) {
HAL_WaitForDSData();
GetData();
@@ -602,10 +600,6 @@
}
m_waitForDataCond.notify_all();
- if (++period >= 4) {
- MotorSafetyHelper::CheckMotors();
- period = 0;
- }
if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
diff --git a/third_party/allwpilib_2017/wpilibc/athena/src/Relay.cpp b/third_party/allwpilib_2017/wpilibc/athena/src/Relay.cpp
index 201963b..3e9597a 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/src/Relay.cpp
+++ b/third_party/allwpilib_2017/wpilibc/athena/src/Relay.cpp
@@ -12,7 +12,6 @@
#include "HAL/HAL.h"
#include "HAL/Ports.h"
-#include "MotorSafetyHelper.h"
#include "WPIErrors.h"
using namespace frc;
@@ -82,9 +81,6 @@
return;
}
}
-
- m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
- m_safetyHelper->SetSafetyEnabled(false);
}
/**
@@ -206,57 +202,3 @@
}
int Relay::GetChannel() const { return m_channel; }
-
-/**
- * Set the expiration time for the Relay object
- * @param timeout The timeout (in seconds) for this relay object
- */
-void Relay::SetExpiration(double timeout) {
- m_safetyHelper->SetExpiration(timeout);
-}
-
-/**
- * Return the expiration time for the relay object.
- * @return The expiration time value.
- */
-double Relay::GetExpiration() const { return m_safetyHelper->GetExpiration(); }
-
-/**
- * Check if the relay object is currently alive or stopped due to a timeout.
- *
- * @return a bool value that is true if the motor has NOT timed out and should
- * still be running.
- */
-bool Relay::IsAlive() const { return m_safetyHelper->IsAlive(); }
-
-/**
- * Stop the motor associated with this PWM object.
- *
- * This is called by the MotorSafetyHelper object when it has a timeout for this
- * relay and needs to stop it from running.
- */
-void Relay::StopMotor() { Set(kOff); }
-
-/**
- * Enable/disable motor safety for this device.
- *
- * Turn on and off the motor safety option for this relay object.
- *
- * @param enabled True if motor safety is enforced for this object
- */
-void Relay::SetSafetyEnabled(bool enabled) {
- m_safetyHelper->SetSafetyEnabled(enabled);
-}
-
-/**
- * Check if motor safety is enabled for this object.
- *
- * @returns True if motor safety is enforced for this object
- */
-bool Relay::IsSafetyEnabled() const {
- return m_safetyHelper->IsSafetyEnabled();
-}
-
-void Relay::GetDescription(std::ostringstream& desc) const {
- desc << "Relay " << GetChannel();
-}
diff --git a/third_party/allwpilib_2017/wpilibc/athena/src/Talon.cpp b/third_party/allwpilib_2017/wpilibc/athena/src/Talon.cpp
index 8143865..ca2e6c3 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/src/Talon.cpp
+++ b/third_party/allwpilib_2017/wpilibc/athena/src/Talon.cpp
@@ -17,7 +17,7 @@
* @param channel The PWM channel number that the Talon is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
-Talon::Talon(int channel) : PWMSpeedController(channel) {
+Talon::Talon(int channel) : PWM(channel) {
/* Note that the Talon uses the following bounds for PWM values. These values
* should work reasonably well for most controllers, but if users experience
* issues such as asymmetric behavior around the deadband or inability to