Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib, hal] High Level REV PH changes (#3792)

Browse Source 
More functionality was implemented at the HAL level, so expose that to the wpilib level.

This also does units changes for all the PH related functionality.
This commit is contained in:
Thad House
2021-12-19 13:41:35 -08:00
committed by GitHub
parent 59a7528fd6
commit 34b2d0dae1
23 changed files with 770 additions and 143 deletions
Download Patch File Download Diff File Expand all files Collapse all files

108
hal/src/main/native/athena/REVPH.cpp
View File

@@ -376,8 +376,8 @@ double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
return PH_status_1_compressor_current_decode(status1.compressor_current);
}
double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -467,9 +467,9 @@ double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status) {
return PH_status_1_solenoid_voltage_decode(status1.solenoid_voltage);
}
HAL_REVPHVersion HAL_GetREVPHVersion(HAL_REVPHHandle handle, int32_t* status) {
HAL_REVPHVersion version;
std::memset(&version, 0, sizeof(version));
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
int32_t* status) {
std::memset(version, 0, sizeof(*version));
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
@@ -477,33 +477,31 @@ HAL_REVPHVersion HAL_GetREVPHVersion(HAL_REVPHHandle handle, int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return version;
return;
}
HAL_WriteCANRTRFrame(ph->hcan, PH_VERSION_LENGTH, PH_VERSION_FRAME_API,
status);
if (*status != 0) {
return version;
return;
}
HAL_ReadCANPacketTimeout(ph->hcan, PH_VERSION_FRAME_API, packedData, &length,
&timestamp, kDefaultControlPeriod * 2, status);
if (*status != 0) {
return version;
return;
}
PH_version_unpack(&result, packedData, PH_VERSION_LENGTH);
version.firmwareMajor = result.firmware_year;
version.firmwareMinor = result.firmware_minor;
version.firmwareFix = result.firmware_fix;
version.hardwareMinor = result.hardware_minor;
version.hardwareMajor = result.hardware_major;
version.uniqueId = result.unique_id;
return version;
version->firmwareMajor = result.firmware_year;
version->firmwareMinor = result.firmware_minor;
version->firmwareFix = result.firmware_fix;
version->hardwareMinor = result.hardware_minor;
version->hardwareMajor = result.hardware_major;
version->uniqueId = result.unique_id;
}
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
@@ -660,60 +658,58 @@ void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
PH_PULSE_ONCE_FRAME_API, status);
}
HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status) {
HAL_REVPHFaults faults = {};
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
int32_t* status) {
std::memset(faults, 0, sizeof(*faults));
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return faults;
return;
}
PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
faults.channel0Fault = status0.channel_0_fault;
faults.channel1Fault = status0.channel_1_fault;
faults.channel2Fault = status0.channel_2_fault;
faults.channel3Fault = status0.channel_3_fault;
faults.channel4Fault = status0.channel_4_fault;
faults.channel5Fault = status0.channel_5_fault;
faults.channel6Fault = status0.channel_6_fault;
faults.channel7Fault = status0.channel_7_fault;
faults.channel8Fault = status0.channel_8_fault;
faults.channel9Fault = status0.channel_9_fault;
faults.channel10Fault = status0.channel_10_fault;
faults.channel11Fault = status0.channel_11_fault;
faults.channel12Fault = status0.channel_12_fault;
faults.channel13Fault = status0.channel_13_fault;
faults.channel14Fault = status0.channel_14_fault;
faults.channel15Fault = status0.channel_15_fault;
faults.compressorOverCurrent = status0.compressor_oc_fault;
faults.compressorOpen = status0.compressor_open_fault;
faults.solenoidOverCurrent = status0.solenoid_oc_fault;
faults.brownout = status0.brownout_fault;
faults.canWarning = status0.can_warning_fault;
faults.hardwareFault = status0.hardware_fault;
return faults;
faults->channel0Fault = status0.channel_0_fault;
faults->channel1Fault = status0.channel_1_fault;
faults->channel2Fault = status0.channel_2_fault;
faults->channel3Fault = status0.channel_3_fault;
faults->channel4Fault = status0.channel_4_fault;
faults->channel5Fault = status0.channel_5_fault;
faults->channel6Fault = status0.channel_6_fault;
faults->channel7Fault = status0.channel_7_fault;
faults->channel8Fault = status0.channel_8_fault;
faults->channel9Fault = status0.channel_9_fault;
faults->channel10Fault = status0.channel_10_fault;
faults->channel11Fault = status0.channel_11_fault;
faults->channel12Fault = status0.channel_12_fault;
faults->channel13Fault = status0.channel_13_fault;
faults->channel14Fault = status0.channel_14_fault;
faults->channel15Fault = status0.channel_15_fault;
faults->compressorOverCurrent = status0.compressor_oc_fault;
faults->compressorOpen = status0.compressor_open_fault;
faults->solenoidOverCurrent = status0.solenoid_oc_fault;
faults->brownout = status0.brownout_fault;
faults->canWarning = status0.can_warning_fault;
faults->hardwareFault = status0.hardware_fault;
}
HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
int32_t* status) {
HAL_REVPHStickyFaults stickyFaults = {};
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
HAL_REVPHStickyFaults* stickyFaults,
int32_t* status) {
std::memset(stickyFaults, 0, sizeof(*stickyFaults));
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
return stickyFaults;
return;
}
PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
stickyFaults.compressorOverCurrent = status1.sticky_compressor_oc_fault;
stickyFaults.compressorOpen = status1.sticky_compressor_open_fault;
stickyFaults.solenoidOverCurrent = status1.sticky_solenoid_oc_fault;
stickyFaults.brownout = status1.sticky_brownout_fault;
stickyFaults.canWarning = status1.sticky_can_warning_fault;
stickyFaults.canBusOff = status1.sticky_can_bus_off_fault;
stickyFaults.hasReset = status1.sticky_has_reset_fault;
return stickyFaults;
stickyFaults->compressorOverCurrent = status1.sticky_compressor_oc_fault;
stickyFaults->compressorOpen = status1.sticky_compressor_open_fault;
stickyFaults->solenoidOverCurrent = status1.sticky_solenoid_oc_fault;
stickyFaults->brownout = status1.sticky_brownout_fault;
stickyFaults->canWarning = status1.sticky_can_warning_fault;
stickyFaults->canBusOff = status1.sticky_can_bus_off_fault;
stickyFaults->hasReset = status1.sticky_has_reset_fault;
}
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status) {

17
hal/src/main/native/cpp/jni/HALUtil.cpp
View File

@@ -53,6 +53,7 @@ static JClass accumulatorResultCls;
static JClass canDataCls;
static JClass halValueCls;
static JClass baseStoreCls;
static JClass revPHVersionCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
@@ -61,7 +62,8 @@ static const JClassInit classes[] = {
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/HALValue", &halValueCls},
{"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls}};
{"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls},
{"edu/wpi/first/hal/REVPHVersion", &revPHVersionCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -238,6 +240,19 @@ jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
}
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,
uint32_t uniqueId) {
static jmethodID constructor =
env->GetMethodID(revPHVersionCls, "<init>", "(IIIIII)V");
return env->NewObject(
revPHVersionCls, constructor, static_cast<jint>(firmwareMajor),
static_cast<jint>(firmwareMinor), static_cast<jint>(firmwareFix),
static_cast<jint>(hardwareMinor), static_cast<jint>(hardwareMajor),
static_cast<jint>(uniqueId));
}
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,

5
hal/src/main/native/cpp/jni/HALUtil.h
View File

@@ -59,6 +59,11 @@ jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
uint32_t firmwareMinor, uint32_t firmwareFix,
uint32_t hardwareMinor, uint32_t hardwareMajor,
uint32_t uniqueId);
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,

139
hal/src/main/native/cpp/jni/REVPHJNI.cpp
View File

@@ -196,15 +196,15 @@ Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getAnalogPressure
* Method: getAnalogVoltage
* Signature: (II)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
Java_edu_wpi_first_hal_REVPHJNI_getAnalogVoltage
(JNIEnv* env, jclass, jint handle, jint channel)
{
int32_t status = 0;
auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
auto result = HAL_GetREVPHAnalogVoltage(handle, channel, &status);
CheckStatus(env, status, false);
return result;
}
@@ -267,4 +267,137 @@ Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: clearStickyFaults
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_REVPHJNI_clearStickyFaults
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_ClearREVPHStickyFaults(handle, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getInputVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getInputVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: get5VVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_get5VVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPH5VVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getSolenoidCurrent
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getSolenoidCurrent
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidCurrent(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getSolenoidVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getSolenoidVoltage
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
auto voltage = HAL_GetREVPHSolenoidVoltage(handle, &status);
CheckStatus(env, status, false);
return voltage;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getStickyFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getStickyFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHStickyFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHStickyFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getFaultsNative
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getFaultsNative
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetREVPHFaults(handle, &halFaults, &status);
CheckStatus(env, status, false);
jint faults;
static_assert(sizeof(faults) == sizeof(halFaults));
std::memcpy(&faults, &halFaults, sizeof(faults));
return faults;
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
* Method: getVersion
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_hal_REVPHJNI_getVersion
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_REVPHVersion version;
std::memset(&version, 0, sizeof(version));
HAL_GetREVPHVersion(handle, &version, &status);
CheckStatus(env, status, false);
return CreateREVPHVersion(env, version.firmwareMajor, version.firmwareMinor,
version.firmwareFix, version.hardwareMinor,
version.hardwareMajor, version.uniqueId);
}
} // extern "C"

15
hal/src/main/native/include/hal/REVPH.h
View File

@@ -120,13 +120,14 @@ HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
HAL_REVPHHandle handle, int32_t* status);
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
int32_t* status);
double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
int32_t* status);
double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status);
HAL_REVPHVersion HAL_GetREVPHVersion(HAL_REVPHHandle handle, int32_t* status);
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
int32_t* status);
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
@@ -135,10 +136,12 @@ void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status);
HAL_REVPHFaults HAL_GetREVPHFaults(HAL_REVPHHandle handle, int32_t* status);
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
int32_t* status);
HAL_REVPHStickyFaults HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
int32_t* status);
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
HAL_REVPHStickyFaults* stickyFaults,
int32_t* status);
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status);

32
hal/src/main/native/sim/REVPH.cpp
View File

@@ -177,8 +177,8 @@ HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
return SimREVPHData[pcm->module].pressureSwitch;
}
double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
int32_t* status) {
return 0;
}
@@ -227,3 +227,31 @@ void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status) {}
double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status) {
return 0;
}
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
int32_t* status) {}
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
int32_t* status) {}
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
HAL_REVPHStickyFaults* stickyFaults,
int32_t* status) {}
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status) {}