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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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24
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
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@@ -21,13 +21,15 @@ using namespace frc;
PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
/**
* Initialize the PDP.
*/
PowerDistributionPanel::PowerDistributionPanel(int module) {
int32_t status = 0;
HAL_InitializePDP(m_module, &status);
m_handle = HAL_InitializePDP(module, &status);
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumPDPModules(), module,
HAL_GetErrorMessage(status));
m_module = -1;
return;
}
SetName("PowerDistributionPanel", module);
@@ -36,7 +38,7 @@ PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
double PowerDistributionPanel::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetPDPVoltage(m_module, &status);
double voltage = HAL_GetPDPVoltage(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -48,7 +50,7 @@ double PowerDistributionPanel::GetVoltage() const {
double PowerDistributionPanel::GetTemperature() const {
int32_t status = 0;
double temperature = HAL_GetPDPTemperature(m_module, &status);
double temperature = HAL_GetPDPTemperature(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -67,7 +69,7 @@ double PowerDistributionPanel::GetCurrent(int channel) const {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
}
double current = HAL_GetPDPChannelCurrent(m_module, channel, &status);
double current = HAL_GetPDPChannelCurrent(m_handle, channel, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -79,7 +81,7 @@ double PowerDistributionPanel::GetCurrent(int channel) const {
double PowerDistributionPanel::GetTotalCurrent() const {
int32_t status = 0;
double current = HAL_GetPDPTotalCurrent(m_module, &status);
double current = HAL_GetPDPTotalCurrent(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -91,7 +93,7 @@ double PowerDistributionPanel::GetTotalCurrent() const {
double PowerDistributionPanel::GetTotalPower() const {
int32_t status = 0;
double power = HAL_GetPDPTotalPower(m_module, &status);
double power = HAL_GetPDPTotalPower(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -103,7 +105,7 @@ double PowerDistributionPanel::GetTotalPower() const {
double PowerDistributionPanel::GetTotalEnergy() const {
int32_t status = 0;
double energy = HAL_GetPDPTotalEnergy(m_module, &status);
double energy = HAL_GetPDPTotalEnergy(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -115,7 +117,7 @@ double PowerDistributionPanel::GetTotalEnergy() const {
void PowerDistributionPanel::ResetTotalEnergy() {
int32_t status = 0;
HAL_ResetPDPTotalEnergy(m_module, &status);
HAL_ResetPDPTotalEnergy(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");
@@ -125,7 +127,7 @@ void PowerDistributionPanel::ResetTotalEnergy() {
void PowerDistributionPanel::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearPDPStickyFaults(m_module, &status);
HAL_ClearPDPStickyFaults(m_handle, &status);
if (status) {
wpi_setWPIErrorWithContext(Timeout, "");