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[wpilib, hal] Add support for getting faults and versions from power distribution (#3794)

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This commit is contained in:
Thad House
2021-12-19 13:42:49 -08:00
committed by GitHub
parent 34b2d0dae1
commit 9778626f34
15 changed files with 743 additions and 165 deletions
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42
wpilibc/src/main/native/cpp/PowerDistribution.cpp
View File

@@ -137,6 +137,48 @@ void PowerDistribution::SetSwitchableChannel(bool enabled) {
FRC_ReportError(status, "Module {}", m_module);
}
PowerDistribution::Version PowerDistribution::GetVersion() const {
int32_t status = 0;
HAL_PowerDistributionVersion halVersion;
std::memset(&halVersion, 0, sizeof(halVersion));
HAL_GetPowerDistributionVersion(m_handle, &halVersion, &status);
FRC_ReportError(status, "Module {}", m_module);
PowerDistribution::Version version;
static_assert(sizeof(halVersion) == sizeof(version));
static_assert(std::is_standard_layout_v<decltype(version)>);
static_assert(std::is_trivial_v<decltype(version)>);
std::memcpy(&version, &halVersion, sizeof(version));
return version;
}
PowerDistribution::Faults PowerDistribution::GetFaults() const {
int32_t status = 0;
HAL_PowerDistributionFaults halFaults;
std::memset(&halFaults, 0, sizeof(halFaults));
HAL_GetPowerDistributionFaults(m_handle, &halFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
PowerDistribution::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;
}
PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
int32_t status = 0;
HAL_PowerDistributionStickyFaults halStickyFaults;
std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
HAL_GetPowerDistributionStickyFaults(m_handle, &halStickyFaults, &status);
FRC_ReportError(status, "Module {}", m_module);
PowerDistribution::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;
}
void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistribution");
int32_t status = 0;

76
wpilibc/src/main/native/include/frc/PowerDistribution.h
View File

@@ -102,6 +102,82 @@ class PowerDistribution : public wpi::Sendable,
void SetSwitchableChannel(bool enabled);
struct Version {
uint32_t FirmwareMajor;
uint32_t FirmwareMinor;
uint32_t FirmwareFix;
uint32_t FardwareMinor;
uint32_t FardwareMajor;
uint32_t UniqueId;
};
Version GetVersion() const;
struct Faults {
uint32_t Channel0BreakerFault : 1;
uint32_t Channel1BreakerFault : 1;
uint32_t Channel2BreakerFault : 1;
uint32_t Channel3BreakerFault : 1;
uint32_t Channel4BreakerFault : 1;
uint32_t Channel5BreakerFault : 1;
uint32_t Channel6BreakerFault : 1;
uint32_t Channel7BreakerFault : 1;
uint32_t Channel8BreakerFault : 1;
uint32_t Channel9BreakerFault : 1;
uint32_t Channel10BreakerFault : 1;
uint32_t Channel11BreakerFault : 1;
uint32_t Channel12BreakerFault : 1;
uint32_t Channel13BreakerFault : 1;
uint32_t Channel14BreakerFault : 1;
uint32_t Channel15BreakerFault : 1;
uint32_t Channel16BreakerFault : 1;
uint32_t Channel17BreakerFault : 1;
uint32_t Channel18BreakerFault : 1;
uint32_t Channel19BreakerFault : 1;
uint32_t Channel20BreakerFault : 1;
uint32_t Channel21BreakerFault : 1;
uint32_t Channel22BreakerFault : 1;
uint32_t Channel23BreakerFault : 1;
uint32_t Brownout : 1;
uint32_t CanWarning : 1;
uint32_t HardwareFault : 1;
};
Faults GetFaults() const;
struct StickyFaults {
uint32_t Channel0BreakerFault : 1;
uint32_t Channel1BreakerFault : 1;
uint32_t Channel2BreakerFault : 1;
uint32_t Channel3BreakerFault : 1;
uint32_t Channel4BreakerFault : 1;
uint32_t Channel5BreakerFault : 1;
uint32_t Channel6BreakerFault : 1;
uint32_t Channel7BreakerFault : 1;
uint32_t Channel8BreakerFault : 1;
uint32_t Channel9BreakerFault : 1;
uint32_t Channel10BreakerFault : 1;
uint32_t Channel11BreakerFault : 1;
uint32_t Channel12BreakerFault : 1;
uint32_t Channel13BreakerFault : 1;
uint32_t Channel14BreakerFault : 1;
uint32_t Channel15BreakerFault : 1;
uint32_t Channel16BreakerFault : 1;
uint32_t Channel17BreakerFault : 1;
uint32_t Channel18BreakerFault : 1;
uint32_t Channel19BreakerFault : 1;
uint32_t Channel20BreakerFault : 1;
uint32_t Channel21BreakerFault : 1;
uint32_t Channel22BreakerFault : 1;
uint32_t Channel23BreakerFault : 1;
uint32_t Brownout : 1;
uint32_t CanWarning : 1;
uint32_t CanBusOff : 1;
uint32_t HasReset : 1;
};
StickyFaults GetStickyFaults() const;
void InitSendable(wpi::SendableBuilder& builder) override;
private: