Merge "Add methods for checking Watchdog status, ds status, and brownout status"

hal/include/HAL/HAL.hpp

@@ -216,6 +216,9 @@ extern "C"
 	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
 
 	void HALSetNewDataSem(pthread_cond_t *);
+	
+	bool HALGetSystemActive(int32_t *status);
+	bool HALGetBrownedOut(int32_t *status);
 
 	int HALInitialize(int mode = 0);
 	void HALNetworkCommunicationObserveUserProgramStarting();

hal/lib/Athena/HAL.cpp

@@ -19,6 +19,7 @@ const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
 const uint32_t kSystemClockTicksPerMicrosecond = 40;
 
 static tGlobal *global;
+static tSysWatchdog *watchdog;
 
 void* getPort(uint8_t pin)
 {
@@ -210,6 +211,16 @@ void HALSetNewDataSem(pthread_cond_t * param)
 	setNewDataSem(param);
 }
 
+bool HALGetSystemActive(int32_t *status)
+{
+	return watchdog->readStatus_SystemActive(status);
+}
+	
+bool HALGetBrownedOut(int32_t *status)
+{
+	return !(watchdog->readStatus_PowerAlive(status));
+}
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  */
@@ -227,6 +238,7 @@ int HALInitialize(int mode)
 
 	int32_t status;
 	global = tGlobal::create(&status);
+	watchdog = tSysWatchdog::create(&status);
 
 	// Kill any previous robot programs
 	std::fstream fs;

wpilibc/wpilibC++Devices/include/DriverStation.h

@@ -41,8 +41,11 @@ public:
 	bool IsAutonomous();
 	bool IsOperatorControl();
 	bool IsTest();
+	bool IsDSAttached();
 	bool IsNewControlData();
 	bool IsFMSAttached();
+	bool IsSysActive();
+	bool IsSysBrownedOut();
 
 	Alliance GetAlliance();
 	uint32_t GetLocation();

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -286,6 +286,29 @@ bool DriverStation::IsTest()
 	return m_controlWord.test;
 }
 
+bool DriverStation::IsDSAttached()
+{
+	HALControlWord controlWord;
+	HALGetControlWord(&controlWord);
+	return controlWord.dsAttached;
+}
+
+bool DriverStation::IsSysActive()
+{
+	int32_t status = 0;
+	bool retVal = HALGetSystemActive(&status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+bool DriverStation::IsSysBrownedOut()
+{
+	int32_t status = 0;
+	bool retVal = HALGetBrownedOut(&status);
+	wpi_setErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
 /**
  * Has a new control packet from the driver station arrived since the last time this function was called?
  * Warning: If you call this function from more than one place at the same time,

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -8,6 +8,7 @@ package edu.wpi.first.wpilibj;
 
 import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.communication.HALControlWord;
@@ -329,6 +330,22 @@ public class DriverStation implements RobotState.Interface {
     public boolean isOperatorControl() {
         return !(isAutonomous() || isTest());
     }
+	
+	public boolean isSysActive() {
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		boolean retVal = FRCNetworkCommunicationsLibrary.HALGetSystemActive(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public boolean isBrownedOut() {
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		boolean retVal = FRCNetworkCommunicationsLibrary.HALGetBrownedOut(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
 
     /**
      * Has a new control packet from the driver station arrived since the last time this function was called?
@@ -393,6 +410,11 @@ public class DriverStation implements RobotState.Interface {
     public boolean isFMSAttached() {
         return m_controlWord.getFMSAttached();
     }
+	
+	public boolean isDSAttached() {
+		HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+		return controlWord.getDSAttached();
+	}
 
     /**
      * Return the approximate match time

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java

@@ -468,6 +468,8 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 			return HALAllianceStationID.Blue2;
 		case 5:
 			return HALAllianceStationID.Blue3;
+		default:
+			return null;
 		}
 	}
 

wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp

@@ -535,6 +535,30 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCom
 	return env->NewDirectByteBuffer(returnByteArray, 4);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetSystemActive
+ * Signature: (Ljava/nio/IntBuffer;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return HALGetSystemActive((int32_t*)statusPtr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetBrownedOut
+ * Signature: (Ljava/nio/IntBuffer;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return HALGetBrownedOut((int32_t*)statusPtr);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
  * Method:    HALSetErrorData