[wpilib] Don't print PD errors for LiveWindow reads (#3708)

If something happens with the PD connection, these would have spammed messages continuously.
This wasn't the case previously, and we don't want this behavior now.

hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java

@@ -46,4 +46,14 @@ public class PowerDistributionJNI extends JNIWrapper {
   public static native boolean getSwitchableChannel(int handle);
 
   public static native void setSwitchableChannel(int handle, boolean enabled);
+
+  public static native double getVoltageNoError(int handle);
+
+  public static native double getChannelCurrentNoError(int handle, int channel);
+
+  public static native double getTotalCurrentNoError(int handle);
+
+  public static native boolean getSwitchableChannelNoError(int handle);
+
+  public static native void setSwitchableChannelNoError(int handle, boolean enabled);
 }

hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp

@@ -292,4 +292,74 @@ Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannel
   return state;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getVoltageNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getVoltageNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  double voltage = HAL_GetPowerDistributionVoltage(handle, &status);
+  return voltage;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getChannelCurrentNoError
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getChannelCurrentNoError
+  (JNIEnv* env, jclass, jint handle, jint channel)
+{
+  int32_t status = 0;
+  double current =
+      HAL_GetPowerDistributionChannelCurrent(handle, channel, &status);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getTotalCurrentNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalCurrentNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  double current = HAL_GetPowerDistributionTotalCurrent(handle, &status);
+  return current;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    setSwitchableChannelNoError
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_setSwitchableChannelNoError
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetPowerDistributionSwitchableChannel(handle, enabled, &status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerDistributionJNI
+ * Method:    getSwitchableChannelNoError
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannelNoError
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto state = HAL_GetPowerDistributionSwitchableChannel(handle, &status);
+  return state;
+}
+
 }  // extern "C"

wpilibc/src/main/native/cpp/PowerDistribution.cpp

@@ -132,15 +132,38 @@ void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
   int32_t status = 0;
   int numChannels = HAL_GetPowerDistributionNumChannels(m_handle, &status);
   FRC_ReportError(status, "Module {}", m_module);
+  // Use manual reads to avoid printing errors
   for (int i = 0; i < numChannels; ++i) {
     builder.AddDoubleProperty(
-        fmt::format("Chan{}", i), [=] { return GetCurrent(i); }, nullptr);
+        fmt::format("Chan{}", i),
+        [=] {
+          int32_t lStatus = 0;
+          return HAL_GetPowerDistributionChannelCurrent(m_handle, i, &lStatus);
+        },
+        nullptr);
   }
   builder.AddDoubleProperty(
-      "Voltage", [=] { return GetVoltage(); }, nullptr);
+      "Voltage",
+      [=] {
+        int32_t lStatus = 0;
+        return HAL_GetPowerDistributionVoltage(m_handle, &lStatus);
+      },
+      nullptr);
   builder.AddDoubleProperty(
-      "TotalCurrent", [=] { return GetTotalCurrent(); }, nullptr);
+      "TotalCurrent",
+      [=] {
+        int32_t lStatus = 0;
+        return HAL_GetPowerDistributionTotalCurrent(m_handle, &lStatus);
+      },
+      nullptr);
   builder.AddBooleanProperty(
-      "SwitchableChannel", [=] { return GetSwitchableChannel(); },
-      [=](bool value) { SetSwitchableChannel(value); });
+      "SwitchableChannel",
+      [=] {
+        int32_t lStatus = 0;
+        return HAL_GetPowerDistributionSwitchableChannel(m_handle, &lStatus);
+      },
+      [=](bool value) {
+        int32_t lStatus = 0;
+        HAL_SetPowerDistributionSwitchableChannel(m_handle, value, &lStatus);
+      });
 }

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

@@ -160,11 +160,16 @@ public class PowerDistribution implements Sendable, AutoCloseable {
     int numChannels = getNumChannels();
     for (int i = 0; i < numChannels; ++i) {
       final int chan = i;
-      builder.addDoubleProperty("Chan" + i, () -> getCurrent(chan), null);
+      builder.addDoubleProperty(
+          "Chan" + i, () -> PowerDistributionJNI.getChannelCurrentNoError(m_handle, chan), null);
     }
-    builder.addDoubleProperty("Voltage", this::getVoltage, null);
-    builder.addDoubleProperty("TotalCurrent", this::getTotalCurrent, null);
+    builder.addDoubleProperty(
+        "Voltage", () -> PowerDistributionJNI.getVoltageNoError(m_handle), null);
+    builder.addDoubleProperty(
+        "TotalCurrent", () -> PowerDistributionJNI.getTotalCurrent(m_handle), null);
     builder.addBooleanProperty(
-        "SwitchableChannel", this::getSwitchableChannel, this::setSwitchableChannel);
+        "SwitchableChannel",
+        () -> PowerDistributionJNI.getSwitchableChannelNoError(m_handle),
+        value -> PowerDistributionJNI.setSwitchableChannel(m_handle, value));
   }
 }