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

Change-Id: I7501a83dcdd81d45b298e044379ea4ac3670c742

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;
+}