[hal] Rename PowerDistributionPanel to PowerDistribution (#3466)

Makes HAL more generic for the PDP, to enable the Rev PDH in the future.

hal/src/main/native/sim/HAL.cpp

@@ -74,7 +74,7 @@ void InitializeHAL() {
   InitializeEncoderData();
   InitializeI2CData();
   InitializeCTREPCMData();
-  InitializePDPData();
+  InitializePowerDistributionData();
   InitializePWMData();
   InitializeRelayData();
   InitializeRoboRioData();
@@ -103,7 +103,7 @@ void InitializeHAL() {
   InitializeMain();
   InitializeMockHooks();
   InitializeNotifier();
-  InitializePDP();
+  InitializePowerDistribution();
   InitializePorts();
   InitializePower();
   InitializeCTREPCM();

hal/src/main/native/sim/HALInitializer.h

@@ -32,7 +32,7 @@ extern void InitializeDriverStationData();
 extern void InitializeEncoderData();
 extern void InitializeI2CData();
 extern void InitializeCTREPCMData();
-extern void InitializePDPData();
+extern void InitializePowerDistributionData();
 extern void InitializePWMData();
 extern void InitializeRelayData();
 extern void InitializeRoboRioData();
@@ -61,7 +61,7 @@ extern void InitializeInterrupts();
 extern void InitializeMain();
 extern void InitializeMockHooks();
 extern void InitializeNotifier();
-extern void InitializePDP();
+extern void InitializePowerDistribution();
 extern void InitializePorts();
 extern void InitializePower();
 extern void InitializeCTREPCM();

hal/src/main/native/sim/PDP.cpp

@@ -1,105 +0,0 @@
-// 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 "hal/PDP.h"
-
-#include <fmt/format.h>
-
-#include "CANAPIInternal.h"
-#include "HALInitializer.h"
-#include "HALInternal.h"
-#include "PortsInternal.h"
-#include "hal/CANAPI.h"
-#include "hal/Errors.h"
-#include "mockdata/PDPDataInternal.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::init {
-void InitializePDP() {}
-}  // namespace hal::init
-
-extern "C" {
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
-  if (!HAL_CheckPDPModule(module)) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
-    return HAL_kInvalidHandle;
-  }
-  hal::init::CheckInit();
-  SimPDPData[module].initialized = 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;
-}
-
-HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
-  return channel < kNumPDPChannels && channel >= 0;
-}
-
-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].temperature;
-}
-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].voltage;
-}
-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].current[channel];
-}
-void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
-                                  int32_t* status) {
-  auto module = hal::can::GetCANModuleFromHandle(handle, status);
-  if (*status != 0) {
-    return;
-  }
-
-  auto& data = SimPDPData[module];
-  for (int i = 0; i < kNumPDPChannels; i++) {
-    currents[i] = data.current[i];
-  }
-}
-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"

hal/src/main/native/sim/PowerDistribution.cpp

@@ -0,0 +1,121 @@
+// 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 "hal/PowerDistribution.h"
+
+#include <fmt/format.h>
+
+#include "CANAPIInternal.h"
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "mockdata/PowerDistributionDataInternal.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::init {
+void InitializePowerDistribution() {}
+}  // namespace hal::init
+
+extern "C" {
+HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
+    int32_t module, HAL_PowerDistributionType type, int32_t* status) {
+  if (!HAL_CheckPowerDistributionModule(module, type)) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
+    return HAL_kInvalidHandle;
+  }
+  hal::init::CheckInit();
+  SimPowerDistributionData[module].initialized = true;
+  auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+  if (*status != 0) {
+    HAL_CleanCAN(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  return handle;
+}
+
+HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
+                                          HAL_PowerDistributionType type) {
+  return module < kNumPDPModules && module >= 0;
+}
+
+HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
+                                           int32_t channel) {
+  return channel < kNumPDPChannels && channel >= 0;
+}
+
+HAL_PowerDistributionType HAL_GetPowerDistributionType(
+    HAL_PowerDistributionHandle handle, int32_t* status) {
+  return HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+}
+
+void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
+  HAL_CleanCAN(handle);
+}
+
+double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {
+  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  if (*status != 0) {
+    return 0.0;
+  }
+  return SimPowerDistributionData[module].temperature;
+}
+double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
+                                       int32_t* status) {
+  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  if (*status != 0) {
+    return 0.0;
+  }
+  return SimPowerDistributionData[module].voltage;
+}
+double HAL_GetPowerDistributionChannelCurrent(
+    HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status) {
+  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  if (*status != 0) {
+    return 0.0;
+  }
+  return SimPowerDistributionData[module].current[channel];
+}
+void HAL_GetPowerDistributionAllChannelCurrents(
+    HAL_PowerDistributionHandle handle, double* currents,
+    int32_t currentsLength, int32_t* status) {
+  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  if (*status != 0) {
+    return;
+  }
+
+  auto& data = SimPowerDistributionData[module];
+  for (int i = 0; i < kNumPDPChannels; i++) {
+    currents[i] = data.current[i];
+  }
+}
+double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
+                                            int32_t* status) {
+  return 0.0;
+}
+double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
+                                          int32_t* status) {
+  return 0.0;
+}
+double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {
+  return 0.0;
+}
+void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {}
+void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
+                                            int32_t* status) {}
+}  // extern "C"

hal/src/main/native/sim/mockdata/PDPData.cpp

@@ -1,67 +0,0 @@
-// 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 "../PortsInternal.h"
-#include "PDPDataInternal.h"
-
-using namespace hal;
-
-namespace hal::init {
-void InitializePDPData() {
-  static PDPData spd[kNumPDPModules];
-  ::hal::SimPDPData = spd;
-}
-}  // namespace hal::init
-
-PDPData* hal::SimPDPData;
-void PDPData::ResetData() {
-  initialized.Reset(false);
-  temperature.Reset(0.0);
-  voltage.Reset(12.0);
-  for (int i = 0; i < kNumPDPChannels; i++) {
-    current[i].Reset(0.0);
-  }
-}
-
-extern "C" {
-void HALSIM_ResetPDPData(int32_t index) {
-  SimPDPData[index].ResetData();
-}
-
-#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME)                          \
-  HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PDP##CAPINAME, SimPDPData, \
-                               LOWERNAME)
-
-DEFINE_CAPI(HAL_Bool, Initialized, initialized)
-DEFINE_CAPI(double, Temperature, temperature)
-DEFINE_CAPI(double, Voltage, voltage)
-HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PDPCurrent, SimPDPData,
-                                     current)
-
-void HALSIM_GetPDPAllCurrents(int32_t index, double* currents) {
-  auto& data = SimPDPData[index].current;
-  for (int i = 0; i < kNumPDPChannels; i++) {
-    currents[i] = data[i];
-  }
-}
-
-void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents) {
-  auto& data = SimPDPData[index].current;
-  for (int i = 0; i < kNumPDPChannels; i++) {
-    data[i] = currents[i];
-  }
-}
-
-#define REGISTER(NAME) \
-  SimPDPData[index].NAME.RegisterCallback(callback, param, initialNotify)
-
-void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
-                                              HAL_NotifyCallback callback,
-                                              void* param,
-                                              HAL_Bool initialNotify) {
-  REGISTER(initialized);
-  REGISTER(temperature);
-  REGISTER(voltage);
-}
-}  // extern "C"

hal/src/main/native/sim/mockdata/PowerDistributionData.cpp

@@ -0,0 +1,68 @@
+// 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 "../PortsInternal.h"
+#include "PowerDistributionDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializePowerDistributionData() {
+  static PowerDistributionData spd[kNumPDPChannels];
+  ::hal::SimPowerDistributionData = spd;
+}
+}  // namespace hal::init
+
+PowerDistributionData* hal::SimPowerDistributionData;
+void PowerDistributionData::ResetData() {
+  initialized.Reset(false);
+  temperature.Reset(0.0);
+  voltage.Reset(12.0);
+  for (int i = 0; i < kNumPDPChannels; i++) {
+    current[i].Reset(0.0);
+  }
+}
+
+extern "C" {
+void HALSIM_ResetPowerDistributionData(int32_t index) {
+  SimPowerDistributionData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME)                            \
+  HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PowerDistribution##CAPINAME, \
+                               SimPowerDistributionData, LOWERNAME)
+
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(double, Temperature, temperature)
+DEFINE_CAPI(double, Voltage, voltage)
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PowerDistributionCurrent,
+                                     SimPowerDistributionData, current)
+
+void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents) {
+  auto& data = SimPowerDistributionData[index].current;
+  for (int i = 0; i < kNumPDPChannels; i++) {
+    currents[i] = data[i];
+  }
+}
+
+void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
+                                            const double* currents) {
+  auto& data = SimPowerDistributionData[index].current;
+  for (int i = 0; i < kNumPDPChannels; i++) {
+    data[i] = currents[i];
+  }
+}
+
+#define REGISTER(NAME)                                                   \
+  SimPowerDistributionData[index].NAME.RegisterCallback(callback, param, \
+                                                        initialNotify)
+
+void HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks(
+    int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify) {
+  REGISTER(initialized);
+  REGISTER(temperature);
+  REGISTER(voltage);
+}
+}  // extern "C"

hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h

@@ -5,11 +5,11 @@
 #pragma once
 
 #include "../PortsInternal.h"
-#include "hal/simulation/PDPData.h"
+#include "hal/simulation/PowerDistributionData.h"
 #include "hal/simulation/SimDataValue.h"
 
 namespace hal {
-class PDPData {
+class PowerDistributionData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
   HAL_SIMDATAVALUE_DEFINE_NAME(Temperature)
   HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
@@ -29,5 +29,5 @@ class PDPData {
 
   virtual void ResetData();
 };
-extern PDPData* SimPDPData;
+extern PowerDistributionData* SimPowerDistributionData;
 }  // namespace hal