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PJ Reiniger
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Peter Johnson
Peter Johnson
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commit
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <vector>
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#include <hal/PowerDistribution.h>
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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namespace frc {
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/**
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* Class for getting voltage, current, temperature, power and energy from the
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* CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH).
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*/
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class PowerDistribution : public wpi::Sendable,
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public wpi::SendableHelper<PowerDistribution> {
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public:
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/// Default module number.
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static constexpr int kDefaultModule = -1;
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/**
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* Power distribution module type.
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*/
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enum class ModuleType {
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/// CTRE (Cross The Road Electronics) CTRE Power Distribution Panel (PDP).
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kCTRE = 1,
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/// REV Power Distribution Hub (PDH).
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kRev = 2
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};
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/**
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* Constructs a PowerDistribution object.
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*
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* Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1
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* for REV).
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*
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* @param busId The bus ID.
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*/
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explicit PowerDistribution(int busId);
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/**
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* Constructs a PowerDistribution object.
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*
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* @param busId The bus ID.
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* @param module The CAN ID of the PDP/PDH
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* @param moduleType The type of module
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*/
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PowerDistribution(int busId, int module, ModuleType moduleType);
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PowerDistribution(PowerDistribution&&) = default;
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PowerDistribution& operator=(PowerDistribution&&) = default;
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~PowerDistribution() override = default;
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/**
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* Gets the number of channels for this power distribution object.
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*
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* @return Number of output channels (16 for PDP, 24 for PDH).
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*/
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int GetNumChannels() const;
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/**
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* Query the input voltage of the PDP/PDH.
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*
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* @return The input voltage in volts
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*/
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double GetVoltage() const;
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/**
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* Query the temperature of the PDP.
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*
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* Not supported on the Rev PDH and returns 0.
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*
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*
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* @return The temperature in degrees Celsius
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*/
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double GetTemperature() const;
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/**
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* Query the current of a single channel of the PDP/PDH.
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*
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* @param channel the channel to query (0-15 for PDP, 0-23 for PDH)
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* @return The current of the channel in Amperes
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*/
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double GetCurrent(int channel) const;
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/**
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* Query all currents of the PDP.
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*
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* @return The current of each channel in Amperes
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*/
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std::vector<double> GetAllCurrents() const;
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/**
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* Query the total current of all monitored PDP/PDH channels.
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*
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* @return The total current drawn from all channels in Amperes
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*/
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double GetTotalCurrent() const;
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/**
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* Query the total power drawn from all monitored PDP channels.
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*
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* Not supported on the Rev PDH and returns 0.
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*
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* @return The total power drawn in Watts
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*/
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double GetTotalPower() const;
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/**
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* Query the total energy drawn from the monitored PDP channels.
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*
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* Not supported on the Rev PDH and returns 0.
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*
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* @return The total energy drawn in Joules
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*/
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double GetTotalEnergy() const;
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/**
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* Reset the total energy drawn from the PDP.
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*
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* Not supported on the Rev PDH and does nothing.
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*
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* @see PowerDistribution#GetTotalEnergy
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*/
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void ResetTotalEnergy();
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/**
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* Remove all of the fault flags on the PDP/PDH.
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*/
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void ClearStickyFaults();
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/**
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* Gets module number (CAN ID).
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*/
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int GetModule() const;
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/**
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* Gets module type.
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*/
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ModuleType GetType() const;
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/**
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* Gets whether the PDH switchable channel is turned on or off. Returns false
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* with the CTRE PDP.
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*
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* @return The output state of the PDH switchable channel
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*/
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bool GetSwitchableChannel() const;
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/**
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* Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.
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*
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* @param enabled Whether to turn the PDH switchable channel on or off
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*/
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void SetSwitchableChannel(bool enabled);
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/** Version and device data received from a PowerDistribution device */
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struct Version {
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/** Firmware major version number. */
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uint32_t FirmwareMajor;
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/** Firmware minor version number. */
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uint32_t FirmwareMinor;
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/** Firmware fix version number. */
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uint32_t FirmwareFix;
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/** Hardware minor version number. */
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uint32_t HardwareMinor;
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/** Hardware major version number. */
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uint32_t HardwareMajor;
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/** Unique ID. */
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uint32_t UniqueId;
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};
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Version GetVersion() const;
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/**
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* Faults for a PowerDistribution device. These faults are only active while
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* the condition is active.
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*/
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struct Faults {
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/** Breaker fault on channel 0. */
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uint32_t Channel0BreakerFault : 1;
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/** Breaker fault on channel 1. */
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uint32_t Channel1BreakerFault : 1;
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/** Breaker fault on channel 2. */
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uint32_t Channel2BreakerFault : 1;
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/** Breaker fault on channel 3. */
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uint32_t Channel3BreakerFault : 1;
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/** Breaker fault on channel 4. */
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uint32_t Channel4BreakerFault : 1;
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/** Breaker fault on channel 5. */
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uint32_t Channel5BreakerFault : 1;
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/** Breaker fault on channel 6. */
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uint32_t Channel6BreakerFault : 1;
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/** Breaker fault on channel 7. */
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uint32_t Channel7BreakerFault : 1;
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/** Breaker fault on channel 8. */
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uint32_t Channel8BreakerFault : 1;
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/** Breaker fault on channel 9. */
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uint32_t Channel9BreakerFault : 1;
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/** Breaker fault on channel 10. */
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uint32_t Channel10BreakerFault : 1;
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/** Breaker fault on channel 12. */
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uint32_t Channel11BreakerFault : 1;
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/** Breaker fault on channel 13. */
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uint32_t Channel12BreakerFault : 1;
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/** Breaker fault on channel 14. */
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uint32_t Channel13BreakerFault : 1;
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/** Breaker fault on channel 15. */
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uint32_t Channel14BreakerFault : 1;
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/** Breaker fault on channel 16. */
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uint32_t Channel15BreakerFault : 1;
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/** Breaker fault on channel 17. */
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uint32_t Channel16BreakerFault : 1;
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/** Breaker fault on channel 18. */
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uint32_t Channel17BreakerFault : 1;
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/** Breaker fault on channel 19. */
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uint32_t Channel18BreakerFault : 1;
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/** Breaker fault on channel 20. */
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uint32_t Channel19BreakerFault : 1;
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/** Breaker fault on channel 21. */
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uint32_t Channel20BreakerFault : 1;
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/** Breaker fault on channel 22. */
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uint32_t Channel21BreakerFault : 1;
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/** Breaker fault on channel 23. */
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uint32_t Channel22BreakerFault : 1;
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/** Breaker fault on channel 24. */
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uint32_t Channel23BreakerFault : 1;
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/** The input voltage is below the minimum voltage. */
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uint32_t Brownout : 1;
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/** A warning was raised by the device's CAN controller. */
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uint32_t CanWarning : 1;
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/** The hardware on the device has malfunctioned. */
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uint32_t HardwareFault : 1;
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/**
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* Gets whether there is a breaker fault at a specified channel.
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* @param channel Channel to check for faults.
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* @return If there is a breaker fault.
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* @throws A ChannelIndexOutOfRange error if the given int is outside of the
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* range supported by the hardware.
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*/
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bool GetBreakerFault(int channel) const;
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};
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/**
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* Returns the power distribution faults.
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*
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* On a CTRE PDP, this will return an object with no faults active.
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*
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* @return The power distribution faults.
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*/
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Faults GetFaults() const;
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/**
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* Sticky faults for a PowerDistribution device. These faults will remain
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* active until they are reset by the user.
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*/
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struct StickyFaults {
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/** Breaker fault on channel 0. */
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uint32_t Channel0BreakerFault : 1;
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/** Breaker fault on channel 1. */
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uint32_t Channel1BreakerFault : 1;
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/** Breaker fault on channel 2. */
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uint32_t Channel2BreakerFault : 1;
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/** Breaker fault on channel 3. */
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uint32_t Channel3BreakerFault : 1;
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/** Breaker fault on channel 4. */
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uint32_t Channel4BreakerFault : 1;
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/** Breaker fault on channel 5. */
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uint32_t Channel5BreakerFault : 1;
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/** Breaker fault on channel 6. */
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uint32_t Channel6BreakerFault : 1;
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/** Breaker fault on channel 7. */
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uint32_t Channel7BreakerFault : 1;
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/** Breaker fault on channel 8. */
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uint32_t Channel8BreakerFault : 1;
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/** Breaker fault on channel 9. */
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uint32_t Channel9BreakerFault : 1;
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/** Breaker fault on channel 10. */
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uint32_t Channel10BreakerFault : 1;
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/** Breaker fault on channel 12. */
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uint32_t Channel11BreakerFault : 1;
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/** Breaker fault on channel 13. */
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uint32_t Channel12BreakerFault : 1;
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/** Breaker fault on channel 14. */
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uint32_t Channel13BreakerFault : 1;
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/** Breaker fault on channel 15. */
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uint32_t Channel14BreakerFault : 1;
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/** Breaker fault on channel 16. */
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uint32_t Channel15BreakerFault : 1;
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/** Breaker fault on channel 17. */
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uint32_t Channel16BreakerFault : 1;
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/** Breaker fault on channel 18. */
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uint32_t Channel17BreakerFault : 1;
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/** Breaker fault on channel 19. */
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uint32_t Channel18BreakerFault : 1;
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/** Breaker fault on channel 20. */
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uint32_t Channel19BreakerFault : 1;
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/** Breaker fault on channel 21. */
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uint32_t Channel20BreakerFault : 1;
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/** Breaker fault on channel 22. */
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uint32_t Channel21BreakerFault : 1;
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/** Breaker fault on channel 23. */
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uint32_t Channel22BreakerFault : 1;
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/** Breaker fault on channel 24. */
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uint32_t Channel23BreakerFault : 1;
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/** The input voltage is below the minimum voltage. */
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uint32_t Brownout : 1;
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/** A warning was raised by the device's CAN controller. */
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uint32_t CanWarning : 1;
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/** The device's CAN controller experienced a "Bus Off" event. */
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uint32_t CanBusOff : 1;
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/** The hardware on the device has malfunctioned. */
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uint32_t HardwareFault : 1;
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/** The firmware on the device has malfunctioned. */
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uint32_t FirmwareFault : 1;
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/** The device has rebooted. */
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uint32_t HasReset : 1;
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/**
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* Gets whether there is a sticky breaker fault at the specified channel.
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* @param channel Index to check for sticky faults.
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* @return True if there is a sticky breaker fault at the channel, otherwise
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* false.
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* @throws A ChannelIndexOutOfRange error if the provided channel is outside
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* of the range supported by the hardware.
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*/
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bool GetBreakerFault(int channel) const;
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};
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/**
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* Returns the power distribution sticky faults.
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*
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* On a CTRE PDP, this will return an object with no faults active.
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*
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* @return The power distribution sticky faults.
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*/
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StickyFaults GetStickyFaults() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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hal::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution> m_handle;
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int m_module;
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};
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} // namespace frc
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