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

2026-06-19 00:41:43 +00:00 · 2021-08-14 11:44:56 -07:00
parent 5d9ae3cdb4
commit 10cc8b89c4
44 changed files with 6697 additions and 287 deletions
--- a/wpilibc/src/main/native/cpp/PowerDistribution.cpp
+++ b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
@@ -0,0 +1,146 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PowerDistribution.h"
+
+#include <fmt/format.h>
+#include <hal/FRCUsageReporting.h>
+#include <hal/Ports.h>
+#include <hal/PowerDistribution.h>
+#include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+static_assert(static_cast<HAL_PowerDistributionType>(
+                  frc::PowerDistribution::ModuleType::kAutomatic) ==
+              HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic);
+static_assert(static_cast<HAL_PowerDistributionType>(
+                  frc::PowerDistribution::ModuleType::kCTRE) ==
+              HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE);
+static_assert(static_cast<HAL_PowerDistributionType>(
+                  frc::PowerDistribution::ModuleType::kRev) ==
+              HAL_PowerDistributionType::HAL_PowerDistributionType_kRev);
+static_assert(frc::PowerDistribution::kDefaultModule ==
+              HAL_DEFAULT_POWER_DISTRIBUTION_MODULE);
+
+using namespace frc;
+
+PowerDistribution::PowerDistribution()
+    : PowerDistribution(-1, ModuleType::kAutomatic) {}
+
+PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
+  auto stack = wpi::GetStackTrace(1);
+
+  int32_t status = 0;
+  m_handle = HAL_InitializePowerDistribution(
+      module, static_cast<HAL_PowerDistributionType>(moduleType), stack.c_str(),
+      &status);
+  FRC_CheckErrorStatus(status, "Module {}", module);
+  m_module = HAL_GetPowerDistributionModuleNumber(m_handle, &status);
+  FRC_ReportError(status, "Module {}", module);
+
+  HAL_Report(HALUsageReporting::kResourceType_PDP, m_module + 1);
+  wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+}
+
+PowerDistribution::~PowerDistribution() {
+  if (m_handle != HAL_kInvalidHandle) {
+    HAL_CleanPowerDistribution(m_handle);
+    m_handle = HAL_kInvalidHandle;
+  }
+}
+
+double PowerDistribution::GetVoltage() const {
+  int32_t status = 0;
+  double voltage = HAL_GetPowerDistributionVoltage(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return voltage;
+}
+
+double PowerDistribution::GetTemperature() const {
+  int32_t status = 0;
+  double temperature = HAL_GetPowerDistributionTemperature(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return temperature;
+}
+
+double PowerDistribution::GetCurrent(int channel) const {
+  int32_t status = 0;
+  double current =
+      HAL_GetPowerDistributionChannelCurrent(m_handle, channel, &status);
+  FRC_ReportError(status, "Module {} Channel {}", m_module, channel);
+
+  return current;
+}
+
+double PowerDistribution::GetTotalCurrent() const {
+  int32_t status = 0;
+  double current = HAL_GetPowerDistributionTotalCurrent(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return current;
+}
+
+double PowerDistribution::GetTotalPower() const {
+  int32_t status = 0;
+  double power = HAL_GetPowerDistributionTotalPower(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return power;
+}
+
+double PowerDistribution::GetTotalEnergy() const {
+  int32_t status = 0;
+  double energy = HAL_GetPowerDistributionTotalEnergy(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return energy;
+}
+
+void PowerDistribution::ResetTotalEnergy() {
+  int32_t status = 0;
+  HAL_ResetPowerDistributionTotalEnergy(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PowerDistribution::ClearStickyFaults() {
+  int32_t status = 0;
+  HAL_ClearPowerDistributionStickyFaults(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+int PowerDistribution::GetModule() const {
+  return m_module;
+}
+
+bool PowerDistribution::GetSwitchableChannel() const {
+  int32_t status = 0;
+  bool state = HAL_GetPowerDistributionSwitchableChannel(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return state;
+}
+
+void PowerDistribution::SetSwitchableChannel(bool enabled) {
+  int32_t status = 0;
+  HAL_SetPowerDistributionSwitchableChannel(m_handle, enabled, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PowerDistribution");
+  int32_t status = 0;
+  int numChannels = HAL_GetPowerDistributionNumChannels(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  for (int i = 0; i < numChannels; ++i) {
+    builder.AddDoubleProperty(
+        fmt::format("Chan{}", i), [=] { return GetCurrent(i); }, nullptr);
+  }
+  builder.AddDoubleProperty(
+      "Voltage", [=] { return GetVoltage(); }, nullptr);
+  builder.AddDoubleProperty(
+      "TotalCurrent", [=] { return GetTotalCurrent(); }, nullptr);
+  builder.AddBooleanProperty(
+      "SwitchableChannel", [=] { return GetSwitchableChannel(); },
+      [=](bool value) { SetSwitchableChannel(value); });
+}