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Add multi PDP getter and sim PCM/PDP multi arg functions (#2014)

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This commit is contained in:
Thad House
2019-11-01 21:55:35 -07:00
committed by Peter Johnson
parent 931b8ceefd
commit 2ad15cae19
11 changed files with 174 additions and 6 deletions
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69
hal/src/main/native/athena/PDP.cpp
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@@ -289,6 +289,75 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
return raw * 0.125; /* 7.3 fixed pt value in Amps */
}
void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
int32_t* status) {
int32_t length = 0;
uint64_t receivedTimestamp = 0;
PdpStatus1 pdpStatus;
HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
PdpStatus2 pdpStatus2;
HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus2.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
PdpStatus3 pdpStatus3;
HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus3.data, &length,
&receivedTimestamp, TimeoutMs, status);
if (*status != 0) return;
currents[0] = ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
pdpStatus.bits.chan1_l2) *
.125;
currents[1] = ((static_cast<uint32_t>(pdpStatus.bits.chan2_h6) << 4) |
pdpStatus.bits.chan2_l4) *
.125;
currents[2] = ((static_cast<uint32_t>(pdpStatus.bits.chan3_h4) << 6) |
pdpStatus.bits.chan3_l6) *
.125;
currents[3] = ((static_cast<uint32_t>(pdpStatus.bits.chan4_h2) << 8) |
pdpStatus.bits.chan4_l8) *
.125;
currents[4] = ((static_cast<uint32_t>(pdpStatus.bits.chan5_h8) << 2) |
pdpStatus.bits.chan5_l2) *
.125;
currents[5] = ((static_cast<uint32_t>(pdpStatus.bits.chan6_h6) << 4) |
pdpStatus.bits.chan6_l4) *
.125;
currents[6] = ((static_cast<uint32_t>(pdpStatus2.bits.chan7_h8) << 2) |
pdpStatus2.bits.chan7_l2) *
.125;
currents[7] = ((static_cast<uint32_t>(pdpStatus2.bits.chan8_h6) << 4) |
pdpStatus2.bits.chan8_l4) *
.125;
currents[8] = ((static_cast<uint32_t>(pdpStatus2.bits.chan9_h4) << 6) |
pdpStatus2.bits.chan9_l6) *
.125;
currents[9] = ((static_cast<uint32_t>(pdpStatus2.bits.chan10_h2) << 8) |
pdpStatus2.bits.chan10_l8) *
.125;
currents[10] = ((static_cast<uint32_t>(pdpStatus2.bits.chan11_h8) << 2) |
pdpStatus2.bits.chan11_l2) *
.125;
currents[11] = ((static_cast<uint32_t>(pdpStatus2.bits.chan12_h6) << 4) |
pdpStatus2.bits.chan12_l4) *
.125;
currents[12] = ((static_cast<uint32_t>(pdpStatus3.bits.chan13_h8) << 2) |
pdpStatus3.bits.chan13_l2) *
.125;
currents[13] = ((static_cast<uint32_t>(pdpStatus3.bits.chan14_h6) << 4) |
pdpStatus3.bits.chan14_l4) *
.125;
currents[14] = ((static_cast<uint32_t>(pdpStatus3.bits.chan15_h4) << 6) |
pdpStatus3.bits.chan15_l6) *
.125;
currents[15] = ((static_cast<uint32_t>(pdpStatus3.bits.chan16_h2) << 8) |
pdpStatus3.bits.chan16_l8) *
.125;
}
double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
PdpStatusEnergy pdpStatus;
int32_t length = 0;

21
hal/src/main/native/cpp/jni/PDPJNI.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. 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. */
@@ -98,6 +98,25 @@ Java_edu_wpi_first_hal_PDPJNI_getPDPChannelCurrent
return current;
}
/*
* Class: edu_wpi_first_hal_PDPJNI
* Method: getPDPAllCurrents
* Signature: (I[D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PDPJNI_getPDPAllCurrents
(JNIEnv* env, jclass, jint handle, jdoubleArray jarr)
{
double storage[16];
int32_t status = 0;
HAL_GetPDPAllChannelCurrents(handle, storage, &status);
if (!CheckStatus(env, status, false)) {
return;
}
env->SetDoubleArrayRegion(jarr, 0, 16, storage);
}
/*
* Class: edu_wpi_first_hal_PDPJNI
* Method: getPDPTotalCurrent

13
hal/src/main/native/include/hal/PDP.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. 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. */
@@ -79,6 +79,17 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
int32_t* status);
/**
* Gets the current of all 16 channels on the PDP.
*
* The array must be large enough to hold all channels.
*
* @param handle the module handle
* @param current the currents (output)
*/
void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
int32_t* status);
/**
* Gets the total current of the PDP.
*

3
hal/src/main/native/include/mockdata/PCMData.h
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@@ -74,6 +74,9 @@ void HALSIM_CancelPCMCompressorCurrentCallback(int32_t index, int32_t uid);
double HALSIM_GetPCMCompressorCurrent(int32_t index);
void HALSIM_SetPCMCompressorCurrent(int32_t index, double compressorCurrent);
void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values);
void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values);
void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param,

3
hal/src/main/native/include/mockdata/PDPData.h
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@@ -46,6 +46,9 @@ void HALSIM_CancelPDPCurrentCallback(int32_t index, int32_t channel,
double HALSIM_GetPDPCurrent(int32_t index, int32_t channel);
void HALSIM_SetPDPCurrent(int32_t index, int32_t channel, double current);
void HALSIM_GetPDPAllCurrents(int32_t index, double* currents);
void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents);
void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
HAL_NotifyCallback callback,
void* param,

10
hal/src/main/native/include/simulation/PCMSim.h
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@@ -138,6 +138,16 @@ class PCMSim {
HALSIM_SetPCMCompressorCurrent(m_index, compressorCurrent);
}
uint8_t GetAllSolenoidOutputs() {
uint8_t ret = 0;
HALSIM_GetPCMAllSolenoids(m_index, &ret);
return ret;
}
void SetAllSolenoidOutputs(uint8_t outputs) {
HALSIM_SetPCMAllSolenoids(m_index, outputs);
}
void ResetData() { HALSIM_ResetPCMData(m_index); }
private:

8
hal/src/main/native/include/simulation/PDPSim.h
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@@ -79,6 +79,14 @@ class PDPSim {
HALSIM_SetPDPCurrent(m_index, channel, current);
}
void GetAllCurrents(double* currents) {
HALSIM_GetPDPAllCurrents(m_index, currents);
}
void SetAllCurrents(const double* currents) {
HALSIM_SetPDPAllCurrents(m_index, currents);
}
void ResetData() { HALSIM_ResetPDPData(m_index); }
private:

14
hal/src/main/native/sim/PDP.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. 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. */
@@ -78,6 +78,18 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
}
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;
}

19
hal/src/main/native/sim/mockdata/PCMData.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. 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. */
@@ -49,6 +49,23 @@ DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values) {
auto& data = SimPCMData[index].solenoidOutput;
uint8_t ret = 0;
for (int i = 0; i < kNumSolenoidChannels; i++) {
ret |= (data[i] << i);
}
*values = ret;
}
void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values) {
auto& data = SimPCMData[index].solenoidOutput;
for (int i = 0; i < kNumSolenoidChannels; i++) {
data[i] = (values & 0x1) != 0;
values >>= 1;
}
}
#define REGISTER(NAME) \
SimPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)

16
hal/src/main/native/sim/mockdata/PDPData.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. 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. */
@@ -42,6 +42,20 @@ 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)