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wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PneumaticHub.h"
+
+#include <array>
+#include <cstdio>
+#include <memory>
+#include <string>
+
+#include <fmt/format.h>
+#include <hal/Ports.h>
+#include <hal/REVPH.h>
+#include <hal/UsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Compressor.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/Errors.h"
+#include "frc/RobotBase.h"
+#include "frc/SensorUtil.h"
+#include "frc/Solenoid.h"
+
+using namespace frc;
+
+/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
+units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
+                                           units::volt_t supplyVoltage) {
+  return units::pounds_per_square_inch_t{
+      250 * (sensorVoltage.value() / supplyVoltage.value()) - 25};
+}
+
+/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
+units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
+                         units::volt_t supplyVoltage) {
+  return units::volt_t{supplyVoltage.value() *
+                       (0.004 * pressure.value() + 0.1)};
+}
+
+wpi::mutex PneumaticHub::m_handleLock;
+std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>
+    PneumaticHub::m_handleMaps = nullptr;
+
+// Always called under lock, so we can avoid the double lock from the magic
+// static
+std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int busId,
+                                                                   int module) {
+  int32_t numBuses = HAL_GetNumCanBuses();
+  FRC_AssertMessage(busId >= 0 && busId < numBuses,
+                    "Bus {} out of range. Must be [0-{}).", busId, numBuses);
+  if (!m_handleMaps) {
+    m_handleMaps = std::make_unique<
+        wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>(numBuses);
+  }
+  return m_handleMaps[busId][module];
+}
+
+class PneumaticHub::DataStore {
+ public:
+  explicit DataStore(int busId, int module, const char* stackTrace) {
+    int32_t status = 0;
+    HAL_REVPHHandle handle =
+        HAL_InitializeREVPH(busId, module, stackTrace, &status);
+    FRC_CheckErrorStatus(status, "Module {}", module);
+    m_moduleObject = PneumaticHub{busId, handle, module};
+    m_moduleObject.m_dataStore =
+        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+
+    auto version = m_moduleObject.GetVersion();
+
+    // Check PH firmware version
+    if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
+      throw FRC_MakeError(
+          err::AssertionFailure,
+          "The Pneumatic Hub has firmware version {}.{}.{}, and must be "
+          "updated to version 2022.0.0 or later using the REV Hardware Client",
+          version.FirmwareMajor, version.FirmwareMinor, version.FirmwareFix);
+    }
+  }
+
+  ~DataStore() noexcept { HAL_FreeREVPH(m_moduleObject.m_handle); }
+
+  DataStore(DataStore&&) = delete;
+  DataStore& operator=(DataStore&&) = delete;
+
+ private:
+  friend class PneumaticHub;
+  uint32_t m_reservedMask{0};
+  bool m_compressorReserved{false};
+  wpi::mutex m_reservedLock;
+  PneumaticHub m_moduleObject{0, HAL_kInvalidHandle, 0};
+  std::array<units::millisecond_t, 16> m_oneShotDurMs{0_ms};
+};
+
+PneumaticHub::PneumaticHub(int busId)
+    : PneumaticHub{busId, SensorUtil::GetDefaultREVPHModule()} {}
+
+PneumaticHub::PneumaticHub(int busId, int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(busId, module);
+  m_dataStore = res.lock();
+  if (!m_dataStore) {
+    m_dataStore =
+        std::make_shared<DataStore>(busId, module, stackTrace.c_str());
+    res = m_dataStore;
+  }
+  m_handle = m_dataStore->m_moduleObject.m_handle;
+  m_module = module;
+}
+
+PneumaticHub::PneumaticHub(int /* busId */, HAL_REVPHHandle handle, int module)
+    : m_handle{handle}, m_module{module} {}
+
+bool PneumaticHub::GetCompressor() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticHub::DisableCompressor() {
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControlDisabled(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::EnableCompressorDigital() {
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControlDigital(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::EnableCompressorAnalog(
+    units::pounds_per_square_inch_t minPressure,
+    units::pounds_per_square_inch_t maxPressure) {
+  if (minPressure >= maxPressure) {
+    throw FRC_MakeError(err::InvalidParameter,
+                        "maxPressure must be greater than minPressure");
+  }
+  if (minPressure < 0_psi || minPressure > 120_psi) {
+    throw FRC_MakeError(err::ParameterOutOfRange,
+                        "minPressure must be between 0 and 120 PSI, got {}",
+                        minPressure);
+  }
+  if (maxPressure < 0_psi || maxPressure > 120_psi) {
+    throw FRC_MakeError(err::ParameterOutOfRange,
+                        "maxPressure must be between 0 and 120 PSI, got {}",
+                        maxPressure);
+  }
+
+  // Send the voltage as it would be if the 5V rail was at exactly 5V.
+  // The firmware will compensate for the real 5V rail voltage, which
+  // can fluctuate somewhat over time.
+  units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+  units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
+                                      maxAnalogVoltage.value(), &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::EnableCompressorHybrid(
+    units::pounds_per_square_inch_t minPressure,
+    units::pounds_per_square_inch_t maxPressure) {
+  if (minPressure >= maxPressure) {
+    throw FRC_MakeError(err::InvalidParameter,
+                        "maxPressure must be greater than minPressure");
+  }
+  if (minPressure < 0_psi || minPressure > 120_psi) {
+    throw FRC_MakeError(err::ParameterOutOfRange,
+                        "minPressure must be between 0 and 120 PSI, got {}",
+                        minPressure);
+  }
+  if (maxPressure < 0_psi || maxPressure > 120_psi) {
+    throw FRC_MakeError(err::ParameterOutOfRange,
+                        "maxPressure must be between 0 and 120 PSI, got {}",
+                        maxPressure);
+  }
+
+  // Send the voltage as it would be if the 5V rail was at exactly 5V.
+  // The firmware will compensate for the real 5V rail voltage, which
+  // can fluctuate somewhat over time.
+  units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+  units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
+                                      maxAnalogVoltage.value(), &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+CompressorConfigType PneumaticHub::GetCompressorConfigType() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorConfig(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return static_cast<CompressorConfigType>(result);
+}
+
+bool PneumaticHub::GetPressureSwitch() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return result;
+}
+
+units::ampere_t PneumaticHub::GetCompressorCurrent() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::ampere_t{result};
+}
+
+void PneumaticHub::SetSolenoids(int mask, int values) {
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+int PneumaticHub::GetSolenoids() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return result;
+}
+
+int PneumaticHub::GetModuleNumber() const {
+  return m_module;
+}
+
+int PneumaticHub::GetSolenoidDisabledList() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticHub::FireOneShot(int index) {
+  int32_t status = 0;
+  HAL_FireREVPHOneShot(m_handle, index,
+                       m_dataStore->m_oneShotDurMs[index].value(), &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::SetOneShotDuration(int index, units::second_t duration) {
+  m_dataStore->m_oneShotDurMs[index] = duration;
+}
+
+bool PneumaticHub::CheckSolenoidChannel(int channel) const {
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+int PneumaticHub::CheckAndReserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  uint32_t uMask = static_cast<uint32_t>(mask);
+  if ((m_dataStore->m_reservedMask & uMask) != 0) {
+    return m_dataStore->m_reservedMask & uMask;
+  }
+  m_dataStore->m_reservedMask |= uMask;
+  return 0;
+}
+
+void PneumaticHub::UnreserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
+}
+
+bool PneumaticHub::ReserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  if (m_dataStore->m_compressorReserved) {
+    return false;
+  }
+  m_dataStore->m_compressorReserved = true;
+  return true;
+}
+
+void PneumaticHub::UnreserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_compressorReserved = false;
+}
+
+PneumaticHub::Version PneumaticHub::GetVersion() const {
+  int32_t status = 0;
+  HAL_REVPHVersion halVersions;
+  std::memset(&halVersions, 0, sizeof(halVersions));
+  HAL_GetREVPHVersion(m_handle, &halVersions, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  PneumaticHub::Version versions;
+  static_assert(sizeof(halVersions) == sizeof(versions));
+  static_assert(std::is_standard_layout_v<decltype(versions)>);
+  static_assert(std::is_trivial_v<decltype(versions)>);
+  std::memcpy(&versions, &halVersions, sizeof(versions));
+  return versions;
+}
+
+PneumaticHub::Faults PneumaticHub::GetFaults() const {
+  int32_t status = 0;
+  HAL_REVPHFaults halFaults;
+  std::memset(&halFaults, 0, sizeof(halFaults));
+  HAL_GetREVPHFaults(m_handle, &halFaults, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  PneumaticHub::Faults faults;
+  static_assert(sizeof(halFaults) == sizeof(faults));
+  static_assert(std::is_standard_layout_v<decltype(faults)>);
+  static_assert(std::is_trivial_v<decltype(faults)>);
+  std::memcpy(&faults, &halFaults, sizeof(faults));
+  return faults;
+}
+
+PneumaticHub::StickyFaults PneumaticHub::GetStickyFaults() const {
+  int32_t status = 0;
+  HAL_REVPHStickyFaults halStickyFaults;
+  std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
+  HAL_GetREVPHStickyFaults(m_handle, &halStickyFaults, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  PneumaticHub::StickyFaults stickyFaults;
+  static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
+  static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
+  static_assert(std::is_trivial_v<decltype(stickyFaults)>);
+  std::memcpy(&stickyFaults, &halStickyFaults, sizeof(stickyFaults));
+  return stickyFaults;
+}
+
+bool PneumaticHub::Faults::GetChannelFault(int channel) const {
+  switch (channel) {
+    case 0:
+      return Channel0Fault != 0;
+    case 1:
+      return Channel1Fault != 0;
+    case 2:
+      return Channel2Fault != 0;
+    case 3:
+      return Channel3Fault != 0;
+    case 4:
+      return Channel4Fault != 0;
+    case 5:
+      return Channel5Fault != 0;
+    case 6:
+      return Channel6Fault != 0;
+    case 7:
+      return Channel7Fault != 0;
+    case 8:
+      return Channel8Fault != 0;
+    case 9:
+      return Channel9Fault != 0;
+    case 10:
+      return Channel10Fault != 0;
+    case 11:
+      return Channel11Fault != 0;
+    case 12:
+      return Channel12Fault != 0;
+    case 13:
+      return Channel13Fault != 0;
+    case 14:
+      return Channel14Fault != 0;
+    case 15:
+      return Channel15Fault != 0;
+    default:
+      throw FRC_MakeError(err::ChannelIndexOutOfRange,
+                          "Pneumatics fault channel out of bounds!");
+  }
+}
+
+void PneumaticHub::ClearStickyFaults() {
+  int32_t status = 0;
+  HAL_ClearREVPHStickyFaults(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+}
+
+units::volt_t PneumaticHub::GetInputVoltage() const {
+  int32_t status = 0;
+  auto voltage = HAL_GetREVPHVoltage(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::volt_t{voltage};
+}
+
+units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
+  int32_t status = 0;
+  auto voltage = HAL_GetREVPH5VVoltage(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::volt_t{voltage};
+}
+
+units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
+  int32_t status = 0;
+  auto current = HAL_GetREVPHSolenoidCurrent(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::ampere_t{current};
+}
+
+units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
+  int32_t status = 0;
+  auto voltage = HAL_GetREVPHSolenoidVoltage(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::volt_t{voltage};
+}
+
+units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
+  int32_t status = 0;
+  auto voltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return units::volt_t{voltage};
+}
+
+units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
+  int32_t status = 0;
+  auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
+  FRC_ReportError(status, "Module {}", m_module);
+  return VoltsToPSI(units::volt_t{sensorVoltage}, units::volt_t{supplyVoltage});
+}
+
+Solenoid PneumaticHub::MakeSolenoid(int channel) {
+  return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
+}
+
+DoubleSolenoid PneumaticHub::MakeDoubleSolenoid(int forwardChannel,
+                                                int reverseChannel) {
+  return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
+                        reverseChannel};
+}
+
+Compressor PneumaticHub::MakeCompressor() {
+  return Compressor{m_module, PneumaticsModuleType::REVPH};
+}
+
+void PneumaticHub::ReportUsage(std::string_view device, std::string_view data) {
+  HAL_ReportUsage(fmt::format("PH[{}]/{}", m_module, device), data);
+}
+
+std::shared_ptr<PneumaticsBase> PneumaticHub::GetForModule(int busId,
+                                                           int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(busId, module);
+  std::shared_ptr<DataStore> dataStore = res.lock();
+  if (!dataStore) {
+    dataStore = std::make_shared<DataStore>(busId, module, stackTrace.c_str());
+    res = dataStore;
+  }
+
+  return std::shared_ptr<PneumaticsBase>{dataStore, &dataStore->m_moduleObject};
+}