This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/MotorSafetyHelper.h b/azaleasource/WPILibCProgramming/trunk/WPILib/MotorSafetyHelper.h
new file mode 100644
index 0000000..cee15b6
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __MOTOR_SAFETY_HELPER__
+#define __MOTOR_SAFETY_HELPER__
+
+#include "ErrorBase.h"
+#include "Synchronized.h"
+#include <semLib.h>
+
+class MotorSafety;
+
+class MotorSafetyHelper : public ErrorBase
+{
+public:
+ MotorSafetyHelper(MotorSafety *safeObject);
+ ~MotorSafetyHelper();
+ void Feed();
+ void SetExpiration(float expirationTime);
+ float GetExpiration();
+ bool IsAlive();
+ void Check();
+ void SetSafetyEnabled(bool enabled);
+ bool IsSafetyEnabled();
+ 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
+ ReentrantSemaphore m_syncMutex; // protect accesses to the state for this object
+ MotorSafety *m_safeObject; // the object that is using the helper
+ MotorSafetyHelper *m_nextHelper; // next object in the list of MotorSafetyHelpers
+ static MotorSafetyHelper *m_headHelper; // the head of the list of MotorSafetyHelper objects
+ static ReentrantSemaphore m_listMutex; // protect accesses to the list of helpers
+};
+
+#endif