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[hal] [wpilib] Add initial support for the REV PDH (#3503)

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This commit is contained in:
Thad House
2021-08-14 11:44:56 -07:00
committed by GitHub
parent 5d9ae3cdb4
commit 10cc8b89c4
44 changed files with 6697 additions and 287 deletions
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16
hal/src/main/native/sim/Ports.cpp
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@@ -58,14 +58,20 @@ int32_t HAL_GetNumRelayHeaders(void) {
int32_t HAL_GetNumCTREPCMModules(void) {
return kNumCTREPCMModules;
}
int32_t HAL_GetNumSolenoidChannels(void) {
int32_t HAL_GetNumCTRESolenoidChannels(void) {
return kNumCTRESolenoidChannels;
}
int32_t HAL_GetNumPDPModules(void) {
return kNumPDPModules;
int32_t HAL_GetNumCTREPDPModules(void) {
return kNumCTREPDPModules;
}
int32_t HAL_GetNumPDPChannels(void) {
return kNumPDPChannels;
int32_t HAL_GetNumCTREPDPChannels(void) {
return kNumCTREPDPChannels;
}
int32_t HAL_GetNumREVPDHModules(void) {
return kNumREVPDHModules;
}
int32_t HAL_GetNumREVPDHChannels(void) {
return kNumREVPDHChannels;
}
int32_t HAL_GetNumDutyCycles(void) {
return kNumDutyCycles;

6
hal/src/main/native/sim/PortsInternal.h
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@@ -23,8 +23,10 @@ constexpr int32_t kNumRelayChannels = 8;
constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
constexpr int32_t kNumCTREPCMModules = 63;
constexpr int32_t kNumCTRESolenoidChannels = 8;
constexpr int32_t kNumPDPModules = 63;
constexpr int32_t kNumPDPChannels = 16;
constexpr int32_t kNumCTREPDPModules = 63;
constexpr int32_t kNumCTREPDPChannels = 16;
constexpr int32_t kNumREVPDHModules = 63;
constexpr int32_t kNumREVPDHChannels = 24;
constexpr int32_t kNumDutyCycles = 8;
constexpr int32_t kNumAddressableLEDs = 1;
} // namespace hal

45
hal/src/main/native/sim/PowerDistribution.cpp
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@@ -28,7 +28,8 @@ void InitializePowerDistribution() {}
extern "C" {
HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
int32_t module, HAL_PowerDistributionType type, int32_t* status) {
int32_t module, HAL_PowerDistributionType type,
const char* allocationLocation, int32_t* status) {
if (!HAL_CheckPowerDistributionModule(module, type)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
@@ -46,14 +47,32 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
return handle;
}
int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
int32_t* status) {
auto module = hal::can::GetCANModuleFromHandle(handle, status);
if (*status != 0) {
return 0;
}
return module;
}
HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
HAL_PowerDistributionType type) {
return module < kNumPDPModules && module >= 0;
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
return module < kNumCTREPDPModules && module >= 0;
} else {
return module < kNumREVPDHModules && module >= 1;
}
}
HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
int32_t channel) {
return channel < kNumPDPChannels && channel >= 0;
// TODO make this grab from the handle directly
if (false) {
return channel < kNumCTREPDPChannels && channel >= 0;
} else {
return channel < kNumREVPDHChannels && channel >= 0;
}
}
HAL_PowerDistributionType HAL_GetPowerDistributionType(
@@ -61,6 +80,16 @@ HAL_PowerDistributionType HAL_GetPowerDistributionType(
return HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
}
int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
int32_t* status) {
// TODO make this grab from the handle directly
if (false) {
return kNumCTREPDPChannels;
} else {
return kNumREVPDHChannels;
}
}
void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
HAL_CleanCAN(handle);
}
@@ -98,7 +127,8 @@ void HAL_GetPowerDistributionAllChannelCurrents(
}
auto& data = SimPowerDistributionData[module];
for (int i = 0; i < kNumPDPChannels; i++) {
int toCopy = (std::min)(currentsLength, kNumPDSimChannels);
for (int i = 0; i < toCopy; i++) {
currents[i] = data.current[i];
}
}
@@ -118,4 +148,11 @@ void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
int32_t* status) {}
void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
int32_t* status) {}
void HAL_SetPowerDistributionSwitchableChannel(
HAL_PowerDistributionHandle handle, HAL_Bool state, int32_t* status) {}
HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
HAL_PowerDistributionHandle handle, int32_t* status) {
return false;
}
} // extern "C"

16
hal/src/main/native/sim/mockdata/PowerDistributionData.cpp
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@@ -9,7 +9,7 @@ using namespace hal;
namespace hal::init {
void InitializePowerDistributionData() {
static PowerDistributionData spd[kNumPDPChannels];
static PowerDistributionData spd[kNumPDSimModules];
::hal::SimPowerDistributionData = spd;
}
} // namespace hal::init
@@ -19,7 +19,7 @@ void PowerDistributionData::ResetData() {
initialized.Reset(false);
temperature.Reset(0.0);
voltage.Reset(12.0);
for (int i = 0; i < kNumPDPChannels; i++) {
for (int i = 0; i < kNumPDSimChannels; i++) {
current[i].Reset(0.0);
}
}
@@ -39,17 +39,21 @@ DEFINE_CAPI(double, Voltage, voltage)
HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PowerDistributionCurrent,
SimPowerDistributionData, current)
void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents) {
void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents,
int length) {
auto& data = SimPowerDistributionData[index].current;
for (int i = 0; i < kNumPDPChannels; i++) {
int toCopy = (std::min)(length, kNumPDSimChannels);
for (int i = 0; i < toCopy; i++) {
currents[i] = data[i];
}
}
void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
const double* currents) {
const double* currents,
int length) {
auto& data = SimPowerDistributionData[index].current;
for (int i = 0; i < kNumPDPChannels; i++) {
int toCopy = (std::min)(length, kNumPDSimChannels);
for (int i = 0; i < toCopy; i++) {
data[i] = currents[i];
}
}

5
hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
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@@ -9,6 +9,9 @@
#include "hal/simulation/SimDataValue.h"
namespace hal {
constexpr int32_t kNumPDSimModules = hal::kNumREVPDHModules;
constexpr int32_t kNumPDSimChannels = hal::kNumREVPDHChannels;
class PowerDistributionData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(Temperature)
@@ -25,7 +28,7 @@ class PowerDistributionData {
SimDataValue<double, HAL_MakeDouble, GetTemperatureName> temperature{0.0};
SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{12.0};
SimDataValue<double, HAL_MakeDouble, GetCurrentName, GetCurrentDefault>
current[kNumPDPChannels];
current[kNumPDSimChannels];
virtual void ResetData();
};