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

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Change-Id: I7501a83dcdd81d45b298e044379ea4ac3670c742
This commit is contained in:
Kevin O'Connor
2014-11-10 13:15:33 -05:00
parent 747cdc8a58
commit 3ad31dd4d7
8 changed files with 479 additions and 0 deletions
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144
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java Normal file
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@@ -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;
}
}

6
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/PowerJNI.java
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@@ -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);
}