Adds RobotController class (#828)

Unifies random functionality from other classes
Deprecates all old functions.

wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp

@@ -7,7 +7,7 @@
 
 #include "AnalogPotentiometer.h"
 
-#include "ControllerPower.h"
+#include "RobotController.h"
 #include "SmartDashboard/SendableBuilder.h"
 
 using namespace frc;
@@ -67,7 +67,7 @@ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
  *         fullRange and offset).
  */
 double AnalogPotentiometer::Get() const {
-  return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
+  return (m_analog_input->GetVoltage() / RobotController::GetVoltage5V()) *
              m_fullRange +
          m_offset;
 }

wpilibc/src/main/native/cpp/ControllerPower.cpp

@@ -20,6 +20,7 @@ using namespace frc;
  * Get the input voltage to the robot controller.
  *
  * @return The controller input voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetInputVoltage() {
   int32_t status = 0;
@@ -32,6 +33,7 @@ double ControllerPower::GetInputVoltage() {
  * Get the input current to the robot controller.
  *
  * @return The controller input current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetInputCurrent() {
   int32_t status = 0;
@@ -44,6 +46,7 @@ double ControllerPower::GetInputCurrent() {
  * Get the voltage of the 6V rail.
  *
  * @return The controller 6V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage6V() {
   int32_t status = 0;
@@ -56,6 +59,7 @@ double ControllerPower::GetVoltage6V() {
  * Get the current output of the 6V rail.
  *
  * @return The controller 6V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent6V() {
   int32_t status = 0;
@@ -69,6 +73,7 @@ double ControllerPower::GetCurrent6V() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 6V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled6V() {
   int32_t status = 0;
@@ -82,6 +87,7 @@ bool ControllerPower::GetEnabled6V() {
  * has booted.
  *
  * @return The number of faults.
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount6V() {
   int32_t status = 0;
@@ -94,6 +100,7 @@ int ControllerPower::GetFaultCount6V() {
  * Get the voltage of the 5V rail.
  *
  * @return The controller 5V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage5V() {
   int32_t status = 0;
@@ -106,6 +113,7 @@ double ControllerPower::GetVoltage5V() {
  * Get the current output of the 5V rail.
  *
  * @return The controller 5V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent5V() {
   int32_t status = 0;
@@ -119,6 +127,7 @@ double ControllerPower::GetCurrent5V() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 5V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled5V() {
   int32_t status = 0;
@@ -132,6 +141,7 @@ bool ControllerPower::GetEnabled5V() {
  * has booted.
  *
  * @return The number of faults
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount5V() {
   int32_t status = 0;
@@ -144,6 +154,7 @@ int ControllerPower::GetFaultCount5V() {
  * Get the voltage of the 3.3V rail.
  *
  * @return The controller 3.3V rail voltage value in Volts
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetVoltage3V3() {
   int32_t status = 0;
@@ -156,6 +167,7 @@ double ControllerPower::GetVoltage3V3() {
  * Get the current output of the 3.3V rail.
  *
  * @return The controller 3.3V rail output current value in Amps
+ * @deprecated Use RobotController static class method
  */
 double ControllerPower::GetCurrent3V3() {
   int32_t status = 0;
@@ -169,6 +181,7 @@ double ControllerPower::GetCurrent3V3() {
  * controller brownout, a short circuit on the rail, or controller over-voltage.
  *
  * @return The controller 3.3V rail enabled value. True for enabled.
+ * @deprecated Use RobotController static class method
  */
 bool ControllerPower::GetEnabled3V3() {
   int32_t status = 0;
@@ -182,6 +195,7 @@ bool ControllerPower::GetEnabled3V3() {
  * controller has booted.
  *
  * @return The number of faults
+ * @deprecated Use RobotController static class method
  */
 int ControllerPower::GetFaultCount3V3() {
   int32_t status = 0;

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -466,6 +466,7 @@ bool DriverStation::IsFMSAttached() const {
  * watchdog has expired, or if the roboRIO browns out.
  *
  * @return True if the FPGA outputs are enabled.
+ * @deprecated Use RobotController static class method
  */
 bool DriverStation::IsSysActive() const {
   int32_t status = 0;
@@ -478,6 +479,7 @@ bool DriverStation::IsSysActive() const {
  * Check if the system is browned out.
  *
  * @return True if the system is browned out
+ * @deprecated Use RobotController static class method
  */
 bool DriverStation::IsBrownedOut() const {
   int32_t status = 0;

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -0,0 +1,291 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotController.h"
+
+#include <HAL/HAL.h>
+
+#include "ErrorBase.h"
+
+namespace frc {
+
+/**
+ * Return the FPGA Version number.
+ *
+ * For now, expect this to be competition year.
+ *
+ * @return FPGA Version number.
+ */
+int RobotController::GetFPGAVersion() {
+  int32_t status = 0;
+  int version = HAL_GetFPGAVersion(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return version;
+}
+
+/**
+ * Return the FPGA Revision number.
+ *
+ * The format of the revision is 3 numbers. The 12 most significant bits are the
+ * Major Revision. The next 8 bits are the Minor Revision. The 12 least
+ * significant bits are the Build Number.
+ *
+ * @return FPGA Revision number.
+ */
+int64_t RobotController::GetFPGARevision() {
+  int32_t status = 0;
+  int64_t revision = HAL_GetFPGARevision(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return revision;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ *         reset).
+ */
+uint64_t RobotController::GetFPGATime() {
+  int32_t status = 0;
+  uint64_t time = HAL_GetFPGATime(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return time;
+}
+
+/**
+ * Get the state of the "USER" button on the roboRIO.
+ *
+ * @return True if the button is currently pressed down
+ */
+bool RobotController::GetUserButton() {
+  int32_t status = 0;
+
+  bool value = HAL_GetFPGAButton(&status);
+  wpi_setGlobalError(status);
+
+  return value;
+}
+
+/**
+ * Check if the FPGA outputs are enabled.
+ *
+ * The outputs may be disabled if the robot is disabled or e-stopped, the
+ * watchdog has expired, or if the roboRIO browns out.
+ *
+ * @return True if the FPGA outputs are enabled.
+ */
+bool RobotController::IsSysActive() {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemActive(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Check if the system is browned out.
+ *
+ * @return True if the system is browned out
+ */
+bool RobotController::IsBrownedOut() {
+  int32_t status = 0;
+  bool retVal = HAL_GetBrownedOut(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the input voltage to the robot controller.
+ *
+ * @return The controller input voltage value in Volts
+ */
+double RobotController::GetInputVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinVoltage(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the input current to the robot controller.
+ *
+ * @return The controller input current value in Amps
+ */
+double RobotController::GetInputCurrent() {
+  int32_t status = 0;
+  double retVal = HAL_GetVinCurrent(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 6V rail.
+ *
+ * @return The controller 6V rail voltage value in Volts
+ */
+double RobotController::GetVoltage6V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 6V rail.
+ *
+ * @return The controller 6V rail output current value in Amps
+ */
+double RobotController::GetCurrent6V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the enabled state of the 6V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 6V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled6V() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 6V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults.
+ */
+int RobotController::GetFaultCount6V() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults6V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 5V rail.
+ *
+ * @return The controller 5V rail voltage value in Volts
+ */
+double RobotController::GetVoltage5V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 5V rail.
+ *
+ * @return The controller 5V rail output current value in Amps
+ */
+double RobotController::GetCurrent5V() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the enabled state of the 5V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 5V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled5V() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 5V rail since the controller
+ * has booted.
+ *
+ * @return The number of faults
+ */
+int RobotController::GetFaultCount5V() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults5V(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the voltage of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail voltage value in Volts
+ */
+double RobotController::GetVoltage3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserVoltage3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the current output of the 3.3V rail.
+ *
+ * @return The controller 3.3V rail output current value in Amps
+ */
+double RobotController::GetCurrent3V3() {
+  int32_t status = 0;
+  double retVal = HAL_GetUserCurrent3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the enabled state of the 3.3V rail. The rail may be disabled due to a
+ * controller brownout, a short circuit on the rail, or controller over-voltage.
+ *
+ * @return The controller 3.3V rail enabled value. True for enabled.
+ */
+bool RobotController::GetEnabled3V3() {
+  int32_t status = 0;
+  bool retVal = HAL_GetUserActive3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+/**
+ * Get the count of the total current faults on the 3.3V rail since the
+ * controller has booted.
+ *
+ * @return The number of faults
+ */
+int RobotController::GetFaultCount3V3() {
+  int32_t status = 0;
+  int retVal = HAL_GetUserCurrentFaults3V3(&status);
+  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+  return retVal;
+}
+
+CANStatus RobotController::GetCANStatus() {
+  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(&percentBusUtilization, &busOffCount, &txFullCount,
+                       &receiveErrorCount, &transmitErrorCount, &status);
+  if (status != 0) {
+    wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+    return {};
+  }
+  return {percentBusUtilization, static_cast<int>(busOffCount),
+          static_cast<int>(txFullCount), static_cast<int>(receiveErrorCount),
+          static_cast<int>(transmitErrorCount)};
+}
+}  // namespace frc

wpilibc/src/main/native/cpp/Timer.cpp

@@ -13,7 +13,7 @@
 #include <HAL/HAL.h>
 
 #include "DriverStation.h"
-#include "Utility.h"
+#include "RobotController.h"
 
 namespace frc {
 
@@ -168,8 +168,7 @@ bool Timer::HasPeriodPassed(double period) {
  */
 double Timer::GetFPGATimestamp() {
   // FPGA returns the timestamp in microseconds
-  // Call the helper GetFPGATime() in Utility.cpp
-  return GetFPGATime() * 1.0e-6;
+  return RobotController::GetFPGATime() * 1.0e-6;
 }
 
 /**

wpilibc/src/main/native/cpp/Utility.cpp

@@ -145,6 +145,7 @@ namespace frc {
  * For now, expect this to be competition year.
  *
  * @return FPGA Version number.
+ * @deprecated Use RobotController static class method
  */
 int GetFPGAVersion() {
   int32_t status = 0;
@@ -161,6 +162,7 @@ int GetFPGAVersion() {
  * significant bits are the Build Number.
  *
  * @return FPGA Revision number.
+ * @deprecated Use RobotController static class method
  */
 int64_t GetFPGARevision() {
   int32_t status = 0;
@@ -174,6 +176,7 @@ int64_t GetFPGARevision() {
  *
  * @return The current time in microseconds according to the FPGA (since FPGA
  *         reset).
+ * @deprecated Use RobotController static class method
  */
 uint64_t GetFPGATime() {
   int32_t status = 0;
@@ -186,6 +189,7 @@ uint64_t GetFPGATime() {
  * Get the state of the "USER" button on the roboRIO.
  *
  * @return True if the button is currently pressed down
+ * @deprecated Use RobotController static class method
  */
 bool GetUserButton() {
   int32_t status = 0;