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Use new CAN API for PDP (#1081)

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This commit is contained in:
Thad House
2018-06-07 22:31:26 -07:00
committed by Peter Johnson
parent f6e4df6a18
commit 056e68f2ae
13 changed files with 413 additions and 427 deletions
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11
hal/src/main/native/sim/CANAPI.cpp
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@@ -12,6 +12,7 @@
#include <wpi/DenseMap.h>
#include "CANAPIInternal.h"
#include "HAL/CAN.h"
#include "HAL/Errors.h"
#include "HAL/HAL.h"
@@ -57,6 +58,16 @@ void InitializeCANAPI() {
canHandles = &cH;
}
} // namespace init
namespace can {
int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status) {
auto can = canHandles->Get(handle);
if (!can) {
*status = HAL_HANDLE_ERROR;
return -1;
}
return can->deviceId;
}
} // namespace can
} // namespace hal
static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {

16
hal/src/main/native/sim/CANAPIInternal.h Normal file
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@@ -0,0 +1,16 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/Types.h"
namespace hal {
namespace can {
int32_t GetCANModuleFromHandle(HAL_CANHandle handle, int32_t* status);
} // namespace can
} // namespace hal

61
hal/src/main/native/sim/PDP.cpp
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@@ -7,12 +7,21 @@
#include "HAL/PDP.h"
#include "CANAPIInternal.h"
#include "HAL/CANAPI.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/PDPDataInternal.h"
#include "PortsInternal.h"
using namespace hal;
static constexpr HAL_CANManufacturer manufacturer =
HAL_CANManufacturer::HAL_CAN_Man_kCTRE;
static constexpr HAL_CANDeviceType deviceType =
HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
namespace hal {
namespace init {
void InitializePDP() {}
@@ -20,10 +29,23 @@ void InitializePDP() {}
} // namespace hal
extern "C" {
void HAL_InitializePDP(int32_t module, int32_t* status) {
HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
hal::init::CheckInit();
SimPDPData[module].SetInitialized(true);
auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
if (*status != 0) {
HAL_CleanCAN(handle);
return HAL_kInvalidHandle;
}
return handle;
}
HAL_Bool HAL_CheckPDPModule(int32_t module) {
return module < kNumPDPModules && module >= 0;
}
@@ -31,19 +53,40 @@ HAL_Bool HAL_CheckPDPModule(int32_t module) {
HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
return channel < kNumPDPChannels && channel >= 0;
}
double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
void HAL_CleanPDP(HAL_PDPHandle handle) { HAL_CleanCAN(handle); }
double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetTemperature();
}
double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetVoltage();
}
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0.0;
}
return SimPDPData[module].GetCurrent(channel);
}
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) { return 0.0; }
double HAL_GetPDPTotalPower(int32_t module, int32_t* status) { return 0.0; }
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) { return 0.0; }
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {}
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {}
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
return 0.0;
}
void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {}
void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {}
} // extern "C"