Support for the CAN power distribution panel

Change-Id: If4f8f7f050bf1095221cf16f030a6a8a67532656

hal/include/HAL/HAL.hpp

@@ -19,6 +19,7 @@
 #include "Notifier.hpp"
 #include "Interrupts.hpp"
 #include "Errors.hpp"
+#include "PDP.hpp"
 
 #include "Utilities.hpp"
 #include "Semaphore.hpp"

hal/include/HAL/PDP.hpp

@@ -0,0 +1,19 @@
+#pragma once
+#ifndef __HAL_PDP_H__
+#define __HAL_PDP_H__
+
+#ifdef __vxworks
+#include <vxWorks.h>
+#else
+#include <stdint.h>
+#endif
+
+extern "C"
+{
+	double getPDPTemperature(int32_t *status);
+	double getPDPVoltage(int32_t *status);
+	double getPDPChannelCurrent(uint8_t channel, int32_t *status);
+}
+
+#endif /* __HAL_PDP_H__ */
+

hal/lib/Athena/PDP.cpp

@@ -0,0 +1,28 @@
+#include "HAL/PDP.hpp"
+#include "ctre/PDP.h"
+static PDP pdp;
+
+double getPDPTemperature(int32_t *status) {
+	double temperature;
+	
+	*status = pdp.GetTemperature(temperature);
+	
+	return temperature;
+}
+
+double getPDPVoltage(int32_t *status) {
+	double voltage;
+	
+	*status = pdp.GetVoltage(voltage);
+	
+	return voltage;
+}
+
+double getPDPChannelCurrent(uint8_t channel, int32_t *status) {
+	double current;
+	
+	*status = pdp.GetChannelCurrent(channel, current);
+	
+	return current;
+}
+

wpilibc/include/PowerDistributionPanel.h

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+#ifndef __WPILIB_POWER_DISTRIBUTION_PANEL_H__
+#define __WPILIB_POWER_DISTRIBUTION_PANEL_H__
+
+#include "SensorBase.h"
+
+/**
+ * Class for getting voltage, current, and temperature from the CAN PDP
+ * @author Thomas Clark
+ */
+class PowerDistributionPanel : public SensorBase {
+	public:
+		PowerDistributionPanel();
+		
+		double GetVoltage();
+		double GetTemperature();
+		double GetCurrent(uint8_t channel);
+};
+
+#endif /* __WPILIB_POWER_DISTRIBUTION_PANEL_H__ */
+

wpilibc/include/SensorBase.h

@@ -42,6 +42,7 @@ public:
 	static bool CheckPWMChannel(uint32_t channel);
 	static bool CheckAnalogChannel(uint32_t channel);
 	static bool CheckSolenoidChannel(uint32_t channel);
+	static bool CheckPDPChannel(uint32_t channel);
 
 	static const uint32_t kDigitalChannels = 14;
 	static const uint32_t kAnalogChannels = 8;
@@ -51,6 +52,7 @@ public:
 	static const uint32_t kSolenoidModules = 2;
 	static const uint32_t kPwmChannels = 10;
 	static const uint32_t kRelayChannels = 8;
+	static const uint32_t kPDPChannels = 16;
 	static const uint32_t kChassisSlots = 8;
 protected:
 	void AddToSingletonList();

wpilibc/lib/PowerDistributionPanel.cpp

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "PowerDistributionPanel.h"
+#include "WPIErrors.h"
+#include "HAL/PDP.hpp"
+
+/**
+ * Initialize the PDP.
+ */
+PowerDistributionPanel::PowerDistributionPanel() {
+}
+
+/**
+ * @return The voltage of the PDP
+ */
+double
+PowerDistributionPanel::GetVoltage() {
+	int32_t status = 0;
+	
+	double voltage = getPDPVoltage(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return voltage;
+}
+
+/**
+ * @return The temperature of the PDP in degrees Celsius
+ */
+double
+PowerDistributionPanel::GetTemperature() {
+	int32_t status = 0;
+	
+	double temperature = getPDPTemperature(&status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return temperature;
+}
+
+/**
+ * @return The current of one of the PDP channels (channels 1-16) in Amperes
+ */
+double
+PowerDistributionPanel::GetCurrent(uint8_t channel) {
+	int32_t status = 0;
+	
+	if(!CheckPDPChannel(channel))
+	{
+		char buf[64];
+		snprintf(buf, 64, "PDP Channel %d", channel);
+		wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
+	}
+	
+	double current = getPDPChannelCurrent(channel, &status);
+	
+	if(status) {
+		wpi_setWPIErrorWithContext(Timeout, "");
+	}
+	
+	return current;
+}
+

wpilibc/lib/SensorBase.cpp

@@ -17,6 +17,7 @@ const uint32_t SensorBase::kSolenoidChannels;
 const uint32_t SensorBase::kSolenoidModules;
 const uint32_t SensorBase::kPwmChannels;
 const uint32_t SensorBase::kRelayChannels;
+const uint32_t SensorBase::kPDPChannels;
 const uint32_t SensorBase::kChassisSlots;
 SensorBase *SensorBase::m_singletonList = NULL;
 
@@ -189,3 +190,15 @@ bool SensorBase::CheckSolenoidChannel(uint32_t channel)
 	return false;
 }
 
+/**
+ * Verify that the power distribution channel number is within limits.
+ * 
+ * @return Solenoid channel is valid
+ */
+bool SensorBase::CheckPDPChannel(uint32_t channel)
+{
+	if (channel > 0 && channel <= kPDPChannels)
+		return true;
+	return false;
+}
+

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+import edu.wpi.first.wpilibj.hal.PDPJNI;
+import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.can.CANTimeoutException;
+
+/**
+ * Class for getting voltage, current, and temperature from the CAN PDP
+ * @author Thomas Clark
+ */
+public class PowerDistributionPanel extends SensorBase {
+	public PowerDistributionPanel() {
+	}
+	
+	/**
+	 * @return The voltage of the PDP
+	 */
+	public double getVoltage() throws CANTimeoutException {
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		
+		double voltage = PDPJNI.getPDPVoltage(status.asIntBuffer());
+		
+		if(status.asIntBuffer().get(0) != 0) {
+			throw new CANTimeoutException();
+		}
+		
+		return voltage;
+	}
+
+	/**
+	 * @return The temperature of the PDP in degrees Celsius
+	 */
+	public double getTemperature() throws CANTimeoutException {
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		
+		double temperature = PDPJNI.getPDPTemperature(status.asIntBuffer());
+		
+		if(status.asIntBuffer().get(0) != 0) {
+			throw new CANTimeoutException();
+		}
+		
+		return temperature;
+	}
+	
+	/**
+	 * @return The current of one of the PDP channels (channels 1-16) in Amperes
+	 */
+	public double getCurrent(int channel) throws CANTimeoutException {
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		
+		double current = PDPJNI.getPDPChannelCurrent((byte)channel, status.asIntBuffer());
+		
+		checkPDPChannel(channel);
+		
+		if(status.asIntBuffer().get(0) != 0) {
+			throw new CANTimeoutException();
+		}
+		
+		return current;
+	}
+}

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -58,6 +58,10 @@ public abstract class SensorBase { // TODO: Refactor
      * Number of relay channels per sidecar
      */
     public static final int kRelayChannels = 4;
+    /**
+     * Number of power distribution channels
+     */
+    public static final int kPDPChannels = 16;
 
     private static int m_defaultAnalogModule = 1;
     private static int m_defaultDigitalModule = 1;
@@ -226,6 +230,18 @@ public abstract class SensorBase { // TODO: Refactor
         }
     }
 
+    /**
+     * Verify that the power distribution channel number is within limits. 
+     * Channel numbers are 1-based.
+     *
+     * @param channel The channel number to check.
+     */
+    protected static void checkPDPChannel(final int channel) {
+        if (channel <= 0 || channel > kPDPChannels) {
+            System.err.println("Requested solenoid channel number is out of range.");
+        }
+    }
+
     /**
      * Get the number of the default analog module.
      *

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/hal/PDPJNI.java

@@ -0,0 +1,10 @@
+package edu.wpi.first.wpilibj.hal;
+
+import java.nio.ByteBuffer;
+import java.nio.IntBuffer;
+
+public class PDPJNI extends JNIWrapper {
+	public static native double getPDPTemperature(IntBuffer status);
+	public static native double getPDPVoltage(IntBuffer status);
+	public static native double getPDPChannelCurrent(byte channel, IntBuffer status);
+}

wpilibj/wpilibJavaJNI/lib/PDPJNI.cpp

@@ -0,0 +1,42 @@
+#include "edu_wpi_first_wpilibj_hal_PDPJNI.h"
+#include "HAL/PDP.hpp"
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPTemperature
+ * Signature: (Ljava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPTemperature
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPTemperature(status_ptr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPVoltage
+ * Signature: (Ljava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPVoltage
+  (JNIEnv *env, jclass, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPVoltage(status_ptr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PDPJNI
+ * Method:    getPDPChannelCurrent
+ * Signature: (BLjava/nio/IntBuffer;)D
+ */
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_PDPJNI_getPDPChannelCurrent
+  (JNIEnv *env, jclass, jbyte channel, jobject status)
+{
+	jint *status_ptr = (jint *)env->GetDirectBufferAddress(status);
+	
+	return getPDPChannelCurrent(channel, status_ptr);
+}
+

wpilibj/wpilibJavaJNI/lib/SolenoidJNI.cpp

@@ -4,7 +4,7 @@
 
 #include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
 
-TLogLevel solenoidJNILogLevel = logWARNING;
+TLogLevel solenoidJNILogLevel = logERROR;
 
 #define SOLENOIDJNI_LOG(level) \
     if (level > solenoidJNILogLevel) ; \

wpilibj/wpilibJavaJNI/pom.xml

@@ -124,6 +124,7 @@ this default location, specify a value for the 'embeddedJDKHome' property at the
 								<javahClassName>edu.wpi.first.wpilibj.hal.SPIJNI</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.SolenoidJNI</javahClassName>
 								<javahClassName>edu.wpi.first.wpilibj.hal.CompressorJNI</javahClassName>
+								<javahClassName>edu.wpi.first.wpilibj.hal.PDPJNI</javahClassName>
 							</javahClassNames>
 							<!-- enable additional javah interface in dependencies list -->
 							<!-- javahSearchJNIFromDependencies>true</javahSearchJNIFromDependencies -->