Implement user API for roboRIO power methods (fixes artf3728 and artf3537)

Change-Id: I7501a83dcdd81d45b298e044379ea4ac3670c742

hal/include/HAL/Power.hpp

@@ -8,8 +8,14 @@ extern "C"
 	float getVinCurrent(int32_t *status);
 	float getUserVoltage6V(int32_t *status);
 	float getUserCurrent6V(int32_t *status);
+	bool getUserActive6V(int32_t *status);
+	int getUserCurrentFaults6V(int32_t *status);
 	float getUserVoltage5V(int32_t *status);
 	float getUserCurrent5V(int32_t *status);
+	bool getUserActive5V(int32_t *status);
+	int getUserCurrentFaults5V(int32_t *status);
 	float getUserVoltage3V3(int32_t *status);
 	float getUserCurrent3V3(int32_t *status);
+	bool getUserActive3V3(int32_t *status);
+	int getUserCurrentFaults3V3(int32_t *status);
 }

hal/lib/Athena/Power.cpp

@@ -41,6 +41,22 @@ float getUserCurrent6V(int32_t *status) {
 	return power->readUserCurrent6V(status) / 4.096f * 0.005566f - 0.009f;
 }
 
+/**
+ * Get the active state of the 6V rail
+ */
+bool getUserActive6V(int32_t *status) {
+	initializePower(status);
+	return power->readStatus_User6V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 6V rail
+ */
+int getUserCurrentFaults6V(int32_t *status) {
+	initializePower(status);
+	return (int)power->readOverCurrentFaultCounts_OverCurrentFaultCount6V(status);
+}
+
 /**
  * Get the 5V rail voltage
  */
@@ -57,6 +73,27 @@ float getUserCurrent5V(int32_t *status) {
 	return power->readUserCurrent5V(status) / 4.096f * 0.001996f - 0.002f;
 }
 
+/**
+ * Get the active state of the 5V rail
+ */
+bool getUserActive5V(int32_t *status) {
+	initializePower(status);
+	return power->readStatus_User5V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 5V rail
+ */
+int getUserCurrentFaults5V(int32_t *status) {
+	initializePower(status);
+	return (int)power->readOverCurrentFaultCounts_OverCurrentFaultCount5V(status);
+}
+
+unsigned char getUserStatus5V(int32_t *status) {
+	initializePower(status);
+	return power->readStatus_User5V(status);
+}
+
 /**
  * Get the 3.3V rail voltage
  */
@@ -72,3 +109,19 @@ float getUserCurrent3V3(int32_t *status) {
 	initializePower(status);
 	return power->readUserCurrent3V3(status) / 4.096f * 0.002486f - 0.003f;
 }
+
+/**
+ * Get the active state of the 3.3V rail
+ */
+bool getUserActive3V3(int32_t *status) {
+	initializePower(status);
+	return power->readStatus_User3V3(status) == 4;
+}
+
+/**
+ * Get the fault count for the 3.3V rail
+ */
+int getUserCurrentFaults3V3(int32_t *status) {
+	initializePower(status);
+	return (int)power->readOverCurrentFaultCounts_OverCurrentFaultCount3V3(status);
+}

wpilibc/wpilibC++Devices/include/ControllerPower.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#ifndef __CONTROLLER_POWER_H__
+#define __CONTROLLER_POWER_H__
+
+
+
+class ControllerPower
+{
+	public: 
+		static double GetInputVoltage();
+		static double GetInputCurrent();
+		static double GetVoltage3V3();
+		static double GetCurrent3V3();
+		static bool GetEnabled3V3();
+		static int GetFaultCount3V3();
+		static double GetVoltage5V();
+		static double GetCurrent5V();
+		static bool GetEnabled5V();
+		static int GetFaultCount5V();
+		static double GetVoltage6V();
+		static double GetCurrent6V();
+		static bool GetEnabled6V();
+		static int GetFaultCount6V();
+};
+#endif

wpilibc/wpilibC++Devices/include/WPILib.h

@@ -35,6 +35,7 @@
 #include "Commands/WaitForChildren.h"
 #include "Commands/WaitUntilCommand.h"
 #include "Compressor.h"
+#include "ControllerPower.h"
 #include "Counter.h"
 #include "DigitalInput.h"
 #include "DigitalOutput.h"

wpilibc/wpilibC++Devices/src/ControllerPower.cpp

@@ -0,0 +1,166 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "ControllerPower.h"
+
+#include <stdint.h>
+#include <HAL/Power.hpp>
+#include <HAL/HAL.hpp>
+#include "ErrorBase.h"
+
+/**
+ * Get the input voltage to the robot controller
+ * @return The controller input voltage value
+ */
+double ControllerPower::GetInputVoltage() {
+	int32_t status = 0;
+	double retVal = getVinVoltage(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the input current to the robot controller
+ * @return The controller input current value
+ */
+double ControllerPower::GetInputCurrent() {
+	int32_t status = 0;
+	double retVal = getVinCurrent(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the voltage of the 6V rail
+ * @return The controller 6V rail voltage value
+ */
+double ControllerPower::GetVoltage6V() {
+	int32_t status = 0;
+	double retVal = getUserVoltage6V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the current output of the 6V rail
+ * @return The controller 6V rail output current value
+ */
+double ControllerPower::GetCurrent6V() {
+	int32_t status = 0;
+	double retVal = getUserCurrent6V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the enabled state of the 6V rail. The rail may be disabled due to a controller
+ * brownout, a short circuit on the rail, or controller over-voltage
+ * @return The controller 6V rail enabled value
+ */
+bool ControllerPower::GetEnabled6V() {
+	int32_t status = 0;
+	bool retVal = getUserActive6V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 6V rail since the controller has booted
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount6V() {
+	int32_t status = 0;
+	int retVal = getUserCurrentFaults6V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the voltage of the 5V rail
+ */
+double ControllerPower::GetVoltage5V() {
+	int32_t status = 0;
+	double retVal = getUserVoltage5V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the current output of the 5V rail
+ */
+double ControllerPower::GetCurrent5V() {
+	int32_t status = 0;
+	double retVal = getUserCurrent5V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the enabled state of the 5V rail. The rail may be disabled due to a controller
+ * brownout, a short circuit on the rail, or controller over-voltage
+ * @return The controller 5V rail enabled value
+ */
+bool ControllerPower::GetEnabled5V() {
+	int32_t status = 0;
+	bool retVal = getUserActive5V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 5V rail since the controller has booted
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount5V() {
+	int32_t status = 0;
+	int retVal = getUserCurrentFaults5V(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the voltage of the 3.3V rail
+ */
+double ControllerPower::GetVoltage3V3() {
+	int32_t status = 0;
+	double retVal = getUserVoltage3V3(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the current output of the 3.3V rail
+ */
+double ControllerPower::GetCurrent3V3() {
+	int32_t status = 0;
+	double retVal = getUserCurrent3V3(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+
+/**
+ * Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller
+ * brownout, a short circuit on the rail, or controller over-voltage
+ * @return The controller 3.3V rail enabled value
+ */
+bool ControllerPower::GetEnabled3V3() {
+	int32_t status = 0;
+	bool retVal = getUserActive3V3(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 3.3V rail since the controller has booted
+ * @return The number of faults
+ */
+int ControllerPower::GetFaultCount3V3() {
+	int32_t status = 0;
+	int retVal = getUserCurrentFaults3V3(&status);
+	wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
+	return retVal;
+}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java

@@ -0,0 +1,144 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.IntBuffer;
+
+import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.hal.PowerJNI;
+
+public class ControllerPower
+{
+	public static double getInputVoltage()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getVinVoltage(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getInputCurrent()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getVinCurrent(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getVoltage3V3()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserVoltage3V3(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getCurrent3V3()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserCurrent3V3(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static boolean getEnabled3V3()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		boolean retVal = PowerJNI.getUserActive3V3(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static int getFaultCount3V3()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		int retVal = PowerJNI.getUserCurrentFaults3V3(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getVoltage5V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserVoltage5V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getCurrent5V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserCurrent5V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static boolean getEnabled5V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		boolean retVal = PowerJNI.getUserActive5V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}	
+	
+	public static int getFaultCount5V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		int retVal = PowerJNI.getUserCurrentFaults5V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getVoltage6V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserVoltage6V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static double getCurrent6V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double retVal = PowerJNI.getUserCurrent6V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static boolean getEnabled6V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		boolean retVal = PowerJNI.getUserActive6V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+	
+	public static int getFaultCount6V()
+	{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		int retVal = PowerJNI.getUserCurrentFaults6V(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		return retVal;
+	}
+}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/PowerJNI.java

@@ -7,8 +7,14 @@ public class PowerJNI extends JNIWrapper {
 	public static native float getVinCurrent(IntBuffer status);
 	public static native float getUserVoltage6V(IntBuffer status);
 	public static native float getUserCurrent6V(IntBuffer status);
+	public static native boolean getUserActive6V(IntBuffer status);
+	public static native int getUserCurrentFaults6V(IntBuffer status);
 	public static native float getUserVoltage5V(IntBuffer status);
 	public static native float getUserCurrent5V(IntBuffer status);
+	public static native boolean getUserActive5V(IntBuffer status);
+	public static native int getUserCurrentFaults5V(IntBuffer status);
 	public static native float getUserVoltage3V3(IntBuffer status);
 	public static native float getUserCurrent3V3(IntBuffer status);
+	public static native boolean getUserActive3V3(IntBuffer status);
+	public static native int getUserCurrentFaults3V3(IntBuffer status);
 }

wpilibj/wpilibJavaJNI/lib/PowerJNI.cpp

@@ -50,6 +50,30 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6
 	return getUserCurrent6V(statusPtr);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive6V
+ * Signature: (Ljava/nio/IntBuffer;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive6V
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserActive6V(statusPtr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults6V
+ * Signature: (Ljava/nio/IntBuffer;)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserCurrentFaults6V(statusPtr);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
  * Method:    getUserVoltage5V
@@ -74,6 +98,30 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5
 	return getUserCurrent5V(statusPtr);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive5V
+ * Signature: (Ljava/nio/IntBuffer;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive5V
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserActive5V(statusPtr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults5V
+ * Signature: (Ljava/nio/IntBuffer;)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserCurrentFaults3V3(statusPtr);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
  * Method:    getUserVoltage3V3
@@ -97,3 +145,28 @@ JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3
 	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
 	return getUserCurrent3V3(statusPtr);
 }
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserActive3V3
+ * Signature: (Ljava/nio/IntBuffer;)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserActive3V3
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserActive3V3(statusPtr);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
+ * Method:    getUserCurrentFaults3V3
+ * Signature: (Ljava/nio/IntBuffer;)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults3V3
+  (JNIEnv * env, jclass, jobject status)
+{
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	return getUserCurrentFaults3V3(statusPtr);
+}
+