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[wpilib] Throw exception if the REV Pneumatic Hub firmware version is older than 22.0.0 (#3853)

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This commit is contained in:
Noah Andrews
2022-01-03 13:09:30 -06:00
committed by GitHub
parent dae61226fa
commit c137569f91
4 changed files with 75 additions and 5 deletions
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29
hal/src/main/native/athena/REVPDH.cpp
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@@ -11,6 +11,7 @@
#include <hal/handles/IndexedHandleResource.h>
#include <cstring>
#include <thread>
#include <fmt/format.h>
@@ -35,6 +36,7 @@ struct REV_PDHObj {
int32_t controlPeriod;
HAL_CANHandle hcan;
std::string previousAllocation;
HAL_PowerDistributionVersion versionInfo;
};
} // namespace
@@ -226,6 +228,7 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
hpdh->previousAllocation = allocationLocation ? allocationLocation : "";
hpdh->hcan = hcan;
hpdh->controlPeriod = kDefaultControlPeriod;
std::memset(&hpdh->versionInfo, 0, sizeof(hpdh->versionInfo));
return handle;
}
@@ -490,6 +493,18 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
return;
}
if (hpdh->versionInfo.firmwareMajor > 0) {
version->firmwareMajor = hpdh->versionInfo.firmwareMajor;
version->firmwareMinor = hpdh->versionInfo.firmwareMinor;
version->firmwareFix = hpdh->versionInfo.firmwareFix;
version->hardwareMajor = hpdh->versionInfo.hardwareMajor;
version->hardwareMinor = hpdh->versionInfo.hardwareMinor;
version->uniqueId = hpdh->versionInfo.uniqueId;
*status = 0;
return;
}
HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
status);
@@ -497,9 +512,15 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
return;
}
HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
&length, &timestamp, kDefaultControlPeriod * 2,
status);
uint32_t timeoutMs = 100;
for (uint32_t i = 0; i <= timeoutMs; i++) {
HAL_ReadCANPacketNew(hpdh->hcan, PDH_VERSION_FRAME_API, packedData, &length,
&timestamp, status);
if (*status == 0) {
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
if (*status != 0) {
return;
@@ -513,6 +534,8 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
version->hardwareMinor = result.hardware_minor;
version->hardwareMajor = result.hardware_major;
version->uniqueId = result.unique_id;
hpdh->versionInfo = *version;
}
void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,