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Artifact artf3528, Added support for PDP's having addresses other than zero, and added ability to have multiple PDP's.

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Change-Id: I8e36ab47d6f60b99a668965396c25856cc07a0cb
This commit is contained in:
jmanning
2015-06-16 16:47:35 -04:00
committed by Kevin O'Connor
parent 8d17270dce
commit 39130721d0
8 changed files with 126 additions and 68 deletions
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29
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
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@@ -22,9 +22,20 @@ import edu.wpi.first.wpilibj.tables.ITable;
* @author Thomas Clark
*/
public class PowerDistributionPanel extends SensorBase implements LiveWindowSendable {
public PowerDistributionPanel() {
int m_module;
public PowerDistributionPanel(int module) {
m_module = module;
checkPDPModule(m_module);
PDPJNI.initializePDP(m_module);
}
public PowerDistributionPanel() {
this(0);
}
/**
* Query the input voltage of the PDP
* @return The voltage of the PDP in volts
@@ -33,7 +44,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double voltage = PDPJNI.getPDPVoltage(status.asIntBuffer());
double voltage = PDPJNI.getPDPVoltage(status.asIntBuffer(), m_module);
return voltage;
}
@@ -46,7 +57,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double temperature = PDPJNI.getPDPTemperature(status.asIntBuffer());
double temperature = PDPJNI.getPDPTemperature(status.asIntBuffer(), m_module);
return temperature;
}
@@ -59,7 +70,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double current = PDPJNI.getPDPChannelCurrent((byte)channel, status.asIntBuffer());
double current = PDPJNI.getPDPChannelCurrent((byte)channel, status.asIntBuffer(), m_module);
checkPDPChannel(channel);
@@ -74,7 +85,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double current = PDPJNI.getPDPTotalCurrent(status.asIntBuffer());
double current = PDPJNI.getPDPTotalCurrent(status.asIntBuffer(), m_module);
return current;
}
@@ -87,7 +98,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double power = PDPJNI.getPDPTotalPower(status.asIntBuffer());
double power = PDPJNI.getPDPTotalPower(status.asIntBuffer(), m_module);
return power;
@@ -101,7 +112,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
double energy = PDPJNI.getPDPTotalEnergy(status.asIntBuffer());
double energy = PDPJNI.getPDPTotalEnergy(status.asIntBuffer(), m_module);
return energy;
}
@@ -113,7 +124,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
PDPJNI.resetPDPTotalEnergy(status.asIntBuffer());
PDPJNI.resetPDPTotalEnergy(status.asIntBuffer(), m_module);
}
/**
@@ -123,7 +134,7 @@ public class PowerDistributionPanel extends SensorBase implements LiveWindowSend
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
PDPJNI.clearPDPStickyFaults(status.asIntBuffer());
PDPJNI.clearPDPStickyFaults(status.asIntBuffer(), m_module);
}
public String getSmartDashboardType() {

18
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -55,7 +55,11 @@ public abstract class SensorBase { // TODO: Refactor
* Number of power distribution channels
*/
public static final int kPDPChannels = 16;
/**
* Number of power distribution modules
*/
public static final int kPDPModules = 63;
private static int m_defaultSolenoidModule = 0;
/**
@@ -174,6 +178,18 @@ public abstract class SensorBase { // TODO: Refactor
}
}
/**
* Verify that the PDP module number is within limits.
* module numbers are 0-based.
*
* @param channel The module number to check.
*/
protected static void checkPDPModule(final int module) {
if (module < 0 || module > kPDPModules) {
throw new IndexOutOfBoundsException("Requested PDP module number is out of range.");
}
}
/**
* Get the number of the default solenoid module.
*

17
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/PDPJNI.java
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@@ -4,12 +4,13 @@ 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);
public static native double getPDPTotalCurrent(IntBuffer status);
public static native double getPDPTotalPower(IntBuffer status);
public static native double getPDPTotalEnergy(IntBuffer status);
public static native void resetPDPTotalEnergy(IntBuffer status);
public static native void clearPDPStickyFaults(IntBuffer status);
public static native void initializePDP(int module);
public static native double getPDPTemperature(IntBuffer status, int module);
public static native double getPDPVoltage(IntBuffer status, int module);
public static native double getPDPChannelCurrent(byte channel, IntBuffer status, int module);
public static native double getPDPTotalCurrent(IntBuffer status, int module);
public static native double getPDPTotalPower(IntBuffer status, int module);
public static native double getPDPTotalEnergy(IntBuffer status, int module);
public static native void resetPDPTotalEnergy(IntBuffer status, int module);
public static native void clearPDPStickyFaults(IntBuffer status, int module);
}