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[wpilib] Write REV PH firmware version to roboRIO to display on driver station (#3977)

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This commit is contained in:
Jan-Felix Abellera
2022-02-01 22:27:43 -06:00
committed by GitHub
parent 9fde0110b6
commit 05401e2b81
2 changed files with 61 additions and 2 deletions
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38
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
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@@ -9,6 +9,11 @@ import edu.wpi.first.hal.REVPHFaults;
import edu.wpi.first.hal.REVPHJNI;
import edu.wpi.first.hal.REVPHStickyFaults;
import edu.wpi.first.hal.REVPHVersion;
import java.io.File;
import java.io.IOException;
import java.io.OutputStream;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.util.HashMap;
import java.util.Map;
@@ -29,9 +34,38 @@ public class PneumaticHub implements PneumaticsBase {
m_handleMap.put(module, this);
final REVPHVersion version = REVPHJNI.getVersion(m_handle);
final String fwVersion =
version.firmwareMajor + "." + version.firmwareMinor + "." + version.firmwareFix;
if (version.firmwareMajor > 0 && RobotBase.isReal()) {
// Write PH firmware version to roboRIO
final String fileName = "REV_PH_" + String.format("%02d", module) + "_WPILib_Version.ini";
final File file = new File("/tmp/frc_versions/" + fileName);
try {
if (file.exists() && !file.delete()) {
throw new IOException("Failed to delete " + fileName);
}
if (!file.createNewFile()) {
throw new IOException("Failed to create new " + fileName);
}
try (OutputStream output = Files.newOutputStream(file.toPath())) {
output.write("[Version]\n".getBytes(StandardCharsets.UTF_8));
output.write("model=REV PH\n".getBytes(StandardCharsets.UTF_8));
output.write(
("deviceID=" + Integer.toHexString(0x9052600 | module) + "\n")
.getBytes(StandardCharsets.UTF_8));
output.write(("currentVersion=" + fwVersion).getBytes(StandardCharsets.UTF_8));
}
} catch (IOException ex) {
DriverStation.reportError(
"Could not write " + fileName + ": " + ex.toString(), ex.getStackTrace());
}
}
// Check PH firmware version
if (version.firmwareMajor > 0 && version.firmwareMajor < 22) {
final String fwVersion =
version.firmwareMajor + "." + version.firmwareMinor + "." + version.firmwareFix;
throw new IllegalStateException(
"The Pneumatic Hub has firmware version "
+ fwVersion