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wpilibc/src/main/native/cpp/system/RobotController.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/RobotController.h"
+
+#include <functional>
+#include <string>
+
+#include <hal/CAN.h>
+#include <hal/HALBase.h>
+#include <hal/Power.h>
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+std::function<uint64_t()> RobotController::m_timeSource = [] {
+  return RobotController::GetFPGATime();
+};
+
+std::string RobotController::GetSerialNumber() {
+  WPI_String serialNum;
+  HAL_GetSerialNumber(&serialNum);
+  std::string ret{wpi::to_string_view(&serialNum)};
+  WPI_FreeString(&serialNum);
+  return ret;
+}
+
+std::string RobotController::GetComments() {
+  WPI_String comments;
+  HAL_GetComments(&comments);
+  std::string ret{wpi::to_string_view(&comments)};
+  WPI_FreeString(&comments);
+  return ret;
+}
+
+int32_t RobotController::GetTeamNumber() {
+  return HAL_GetTeamNumber();
+}
+
+void RobotController::SetTimeSource(std::function<uint64_t()> supplier) {
+  m_timeSource = supplier;
+}
+
+uint64_t RobotController::GetTime() {
+  return m_timeSource();
+}
+
+uint64_t RobotController::GetFPGATime() {
+  int32_t status = 0;
+  uint64_t time = HAL_GetFPGATime(&status);
+  FRC_CheckErrorStatus(status, "GetFPGATime");
+  return time;
+}
+
+units::volt_t RobotController::GetBatteryVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinVoltage(&status);
+  FRC_CheckErrorStatus(status, "GetBatteryVoltage");
+  return units::volt_t{retVal};
+}
+
+bool RobotController::IsSysActive() {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemActive(&status);
+  FRC_CheckErrorStatus(status, "IsSysActive");
+  return retVal;
+}
+
+bool RobotController::IsBrownedOut() {
+  int32_t status = 0;
+  bool retVal = HAL_GetBrownedOut(&status);
+  FRC_CheckErrorStatus(status, "IsBrownedOut");
+  return retVal;
+}
+
+int RobotController::GetCommsDisableCount() {
+  int32_t status = 0;
+  int retVal = HAL_GetCommsDisableCount(&status);
+  FRC_CheckErrorStatus(status, "GetCommsDisableCount");
+  return retVal;
+}
+
+bool RobotController::GetRSLState() {
+  int32_t status = 0;
+  bool retVal = HAL_GetRSLState(&status);
+  FRC_CheckErrorStatus(status, "GetRSLState");
+  return retVal;
+}
+
+bool RobotController::IsSystemTimeValid() {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemTimeValid(&status);
+  FRC_CheckErrorStatus(status, "IsSystemTimeValid");
+  return retVal;
+}
+
+double RobotController::GetInputVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinVoltage(&status);
+  FRC_CheckErrorStatus(status, "GetInputVoltage");
+  return retVal;
+}
+
+double RobotController::GetVoltage3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage3V3(&status);
+  FRC_CheckErrorStatus(status, "GetVoltage3V3");
+  return retVal;
+}
+
+double RobotController::GetCurrent3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent3V3(&status);
+  FRC_CheckErrorStatus(status, "GetCurrent3V3");
+  return retVal;
+}
+
+void RobotController::SetEnabled3V3(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled3V3(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled3V3");
+}
+
+bool RobotController::GetEnabled3V3() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive3V3(&status);
+  FRC_CheckErrorStatus(status, "GetEnabled3V3");
+  return retVal;
+}
+
+int RobotController::GetFaultCount3V3() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults3V3(&status);
+  FRC_CheckErrorStatus(status, "GetFaultCount3V3");
+  return retVal;
+}
+
+void RobotController::ResetRailFaultCounts() {
+  int32_t status = 0;
+  HAL_ResetUserCurrentFaults(&status);
+  FRC_CheckErrorStatus(status, "ResetRailFaultCounts");
+}
+
+units::volt_t RobotController::GetBrownoutVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetBrownoutVoltage(&status);
+  FRC_CheckErrorStatus(status, "GetBrownoutVoltage");
+  return units::volt_t{retVal};
+}
+
+void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
+  int32_t status = 0;
+  HAL_SetBrownoutVoltage(brownoutVoltage.value(), &status);
+  FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
+}
+
+units::celsius_t RobotController::GetCPUTemp() {
+  int32_t status = 0;
+  double retVal = HAL_GetCPUTemp(&status);
+  FRC_CheckErrorStatus(status, "GetCPUTemp");
+  return units::celsius_t{retVal};
+}
+
+CANStatus RobotController::GetCANStatus(int busId) {
+  int32_t status = 0;
+  float percentBusUtilization = 0;
+  uint32_t busOffCount = 0;
+  uint32_t txFullCount = 0;
+  uint32_t receiveErrorCount = 0;
+  uint32_t transmitErrorCount = 0;
+  HAL_CAN_GetCANStatus(busId, &percentBusUtilization, &busOffCount,
+                       &txFullCount, &receiveErrorCount, &transmitErrorCount,
+                       &status);
+  FRC_CheckErrorStatus(status, "GetCANStatus");
+  return {percentBusUtilization, static_cast<int>(busOffCount),
+          static_cast<int>(txFullCount), static_cast<int>(receiveErrorCount),
+          static_cast<int>(transmitErrorCount)};
+}