[hal, wpilib] Add brownout voltage configuration (#3632)

hal/src/main/native/athena/Power.cpp

@@ -103,4 +103,22 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount3V3(status));
 }
 
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+  initializePower(status);
+  if (voltage < 0) {
+    voltage = 0;
+  }
+  if (voltage > 50) {
+    voltage = 50;
+  }
+  power->writeBrownoutVoltage250mV(static_cast<unsigned char>(voltage * 4),
+                                   status);
+}
+
+double HAL_GetBrownoutVoltage(int32_t* status) {
+  initializePower(status);
+  auto brownout = power->readBrownoutVoltage250mV(status);
+  return brownout / 4.0;
+}
+
 }  // extern "C"

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -27,6 +27,7 @@ DEFINE_CAPI(HAL_Bool, UserActive3V3, false)
 DEFINE_CAPI(int32_t, UserFaults6V, 0)
 DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
+DEFINE_CAPI(double, BrownoutVoltage, 6.75)
 
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify) {}

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

@@ -222,4 +222,33 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrentFaults3V3
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setBrownoutVoltage
+  (JNIEnv* env, jclass, jdouble brownoutVoltage)
+{
+  int32_t status = 0;
+  HAL_SetBrownoutVoltage(brownoutVoltage, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerJNI_getBrownoutVoltage
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  double val = HAL_GetBrownoutVoltage(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
 }  // extern "C"

hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp

@@ -774,6 +774,57 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setUserFaults3V3
   HALSIM_SetRoboRioUserFaults3V3(value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    registerBrownoutVoltageCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerBrownoutVoltageCallback
+  (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    cancelBrownoutVoltageCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelBrownoutVoltageCallback
+  (JNIEnv* env, jclass, jint handle)
+{
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelRoboRioBrownoutVoltageCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getBrownoutVoltage
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getBrownoutVoltage
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetRoboRioBrownoutVoltage();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setBrownoutVoltage
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setBrownoutVoltage
+  (JNIEnv*, jclass, jdouble value)
+{
+  HALSIM_SetRoboRioBrownoutVoltage(value);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    resetData

hal/src/main/native/include/hal/Power.h

@@ -115,6 +115,24 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status);
  * @return the number of 3V3 fault counts
  */
 int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
+
+/**
+ * Get the current brownout voltage seting.
+ *
+ * Note that this only does anything on the roboRIO 2.
+ * On the roboRIO it is a no-op.
+ *
+ * @return The brownout voltage
+ */
+double HAL_GetBrownoutVoltage(int32_t* status);
+
+/**
+ * Set the voltage the roborio will brownout and disable all outputs.
+ *
+ * @param brownoutVoltage The brownout voltage
+ */
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/hal/simulation/RoboRioData.h

@@ -115,6 +115,12 @@ void HALSIM_CancelRoboRioUserFaults3V3Callback(int32_t uid);
 int32_t HALSIM_GetRoboRioUserFaults3V3(void);
 void HALSIM_SetRoboRioUserFaults3V3(int32_t userFaults3V3);
 
+int32_t HALSIM_RegisterRoboRioBrownoutVoltageCallback(
+    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioBrownoutVoltageCallback(int32_t uid);
+double HALSIM_GetRoboRioBrownoutVoltage(void);
+void HALSIM_SetRoboRioBrownoutVoltage(double brownoutVoltage);
+
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify);
 

hal/src/main/native/sim/Power.cpp

@@ -56,4 +56,10 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
 int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
   return SimRoboRioData->userFaults3V3;
 }
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+  SimRoboRioData->brownoutVoltage = voltage;
+}
+double HAL_GetBrownoutVoltage(int32_t* status) {
+  return SimRoboRioData->brownoutVoltage;
+}
 }  // extern "C"

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -31,6 +31,7 @@ void RoboRioData::ResetData() {
   userFaults6V.Reset(0);
   userFaults5V.Reset(0);
   userFaults3V3.Reset(0);
+  brownoutVoltage.Reset(6.75);
 }
 
 extern "C" {
@@ -57,6 +58,7 @@ DEFINE_CAPI(HAL_Bool, UserActive3V3, userActive3V3)
 DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
 DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
 DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
+DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
 
 #define REGISTER(NAME) \
   SimRoboRioData->NAME.RegisterCallback(callback, param, initialNotify)
@@ -78,5 +80,6 @@ void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
   REGISTER(userFaults6V);
   REGISTER(userFaults5V);
   REGISTER(userFaults3V3);
+  REGISTER(brownoutVoltage);
 }
 }  // extern "C"

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -24,6 +24,7 @@ class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults6V)
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults5V)
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
+  HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
 
  public:
   SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFPGAButtonName> fpgaButton{false};
@@ -46,6 +47,8 @@ class RoboRioData {
   SimDataValue<int32_t, HAL_MakeInt, GetUserFaults6VName> userFaults6V{0};
   SimDataValue<int32_t, HAL_MakeInt, GetUserFaults5VName> userFaults5V{0};
   SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
+  SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
+      6.75};
 
   virtual void ResetData();
 };