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

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.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java

@@ -117,6 +117,15 @@ public class Compressor implements Sendable, AutoCloseable {
     return m_module.getCompressorCurrent();
   }
 
+  /**
+   * Query the analog input voltage (on channel 0) (if supported).
+   *
+   * @return The analog input voltage, in volts
+   */
+  public double getAnalogVoltage() {
+    return m_module.getAnalogVoltage(0);
+  }
+
   /** Disable the compressor. */
   public void disable() {
     m_module.disableCompressor();

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java

@@ -4,7 +4,11 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.hal.PortsJNI;
+import edu.wpi.first.hal.REVPHFaults;
 import edu.wpi.first.hal.REVPHJNI;
+import edu.wpi.first.hal.REVPHStickyFaults;
+import edu.wpi.first.hal.REVPHVersion;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -16,6 +20,7 @@ public class PneumaticHub implements PneumaticsBase {
     private int m_refCount;
     private int m_reservedMask;
     private boolean m_compressorReserved;
+    public int[] m_oneShotDurMs = new int[PortsJNI.getNumREVPHChannels()];
     private final Object m_reserveLock = new Object();
 
     DataStore(int module) {
@@ -123,14 +128,12 @@ public class PneumaticHub implements PneumaticsBase {
 
   @Override
   public void fireOneShot(int index) {
-    // TODO Combine APIs
-    // REVPHJNI.fireOneShot(m_handle, index, durMs);
+    REVPHJNI.fireOneShot(m_handle, index, m_dataStore.m_oneShotDurMs[index]);
   }
 
   @Override
   public void setOneShotDuration(int index, int durMs) {
-    // TODO Combine APIs
-    // REVPHJNI.setOneShotDuration(m_handle, index, durMs);
+    m_dataStore.m_oneShotDurMs[index] = durMs;
   }
 
   @Override
@@ -192,8 +195,8 @@ public class PneumaticHub implements PneumaticsBase {
 
   @Override
   public int getSolenoidDisabledList() {
-    // TODO Get this working
-    return 0;
+    int raw = REVPHJNI.getStickyFaultsNative(m_handle);
+    return raw & 0xFFFF;
   }
 
   @Override
@@ -215,4 +218,41 @@ public class PneumaticHub implements PneumaticsBase {
   public void enableCompressorHybrid(double minAnalogVoltage, double maxAnalogVoltage) {
     REVPHJNI.setClosedLoopControlHybrid(m_handle, minAnalogVoltage, maxAnalogVoltage);
   }
+
+  @Override
+  public double getAnalogVoltage(int channel) {
+    return REVPHJNI.getAnalogVoltage(m_handle, channel);
+  }
+
+  void clearStickyFaults() {
+    REVPHJNI.clearStickyFaults(m_handle);
+  }
+
+  REVPHVersion getVersion() {
+    return REVPHJNI.getVersion(m_handle);
+  }
+
+  REVPHFaults getFaults() {
+    return REVPHJNI.getFaults(m_handle);
+  }
+
+  REVPHStickyFaults getStickyFaults() {
+    return REVPHJNI.getStickyFaults(m_handle);
+  }
+
+  double getInputVoltage() {
+    return REVPHJNI.getInputVoltage(m_handle);
+  }
+
+  double get5VRegulatedVoltage() {
+    return REVPHJNI.get5VVoltage(m_handle);
+  }
+
+  double getSolenoidsTotalCurrent() {
+    return REVPHJNI.getSolenoidCurrent(m_handle);
+  }
+
+  double getSolenoidsVoltage() {
+    return REVPHJNI.getSolenoidVoltage(m_handle);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java

@@ -94,6 +94,8 @@ public interface PneumaticsBase extends AutoCloseable {
 
   void enableCompressorHybrid(double minAnalogVoltage, double maxAnalogVoltage);
 
+  double getAnalogVoltage(int channel);
+
   CompressorConfigType getCompressorConfigType();
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java

@@ -250,4 +250,9 @@ public class PneumaticsControlModule implements PneumaticsBase {
         ? CompressorConfigType.Digital
         : CompressorConfigType.Disabled;
   }
+
+  @Override
+  public double getAnalogVoltage(int channel) {
+    return 0;
+  }
 }