SCRIPT Move java files

wpilibj/src/main/java/org/wpilib/system/RobotController.java

@@ -0,0 +1,332 @@
+// 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.
+
+package edu.wpi.first.wpilibj;
+
+import static edu.wpi.first.units.Units.Amps;
+import static edu.wpi.first.units.Units.Celsius;
+import static edu.wpi.first.units.Units.Microseconds;
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.hal.PowerJNI;
+import edu.wpi.first.hal.can.CANJNI;
+import edu.wpi.first.hal.can.CANStatus;
+import edu.wpi.first.units.measure.Current;
+import edu.wpi.first.units.measure.Temperature;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.units.measure.Voltage;
+import java.util.function.LongSupplier;
+
+/** Contains functions for roboRIO functionality. */
+public final class RobotController {
+  private static LongSupplier m_timeSource = RobotController::getFPGATime;
+
+  private RobotController() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+
+  /**
+   * Return the serial number of the roboRIO.
+   *
+   * @return The serial number of the roboRIO.
+   */
+  public static String getSerialNumber() {
+    return HALUtil.getSerialNumber();
+  }
+
+  /**
+   * Return the comments from the roboRIO web interface.
+   *
+   * <p>The comments string is cached after the first call to this function on the RoboRIO - restart
+   * the robot code to reload the comments string after changing it in the web interface.
+   *
+   * @return the comments from the roboRIO web interface.
+   */
+  public static String getComments() {
+    return HALUtil.getComments();
+  }
+
+  /**
+   * Returns the team number configured for the robot controller.
+   *
+   * @return team number, or 0 if not found.
+   */
+  public static int getTeamNumber() {
+    return HALUtil.getTeamNumber();
+  }
+
+  /**
+   * Sets a new source to provide the clock time in microseconds. Changing this affects the return
+   * value of {@code getTime} in Java.
+   *
+   * @param supplier Function to return the time in microseconds.
+   */
+  public static void setTimeSource(LongSupplier supplier) {
+    m_timeSource = supplier;
+  }
+
+  /**
+   * Read the microsecond timestamp. By default, the time is based on the FPGA hardware clock in
+   * microseconds since the FPGA started. However, the return value of this method may be modified
+   * to use any time base, including non-monotonic and non-continuous time bases.
+   *
+   * @return The current time in microseconds.
+   */
+  public static long getTime() {
+    return m_timeSource.getAsLong();
+  }
+
+  /**
+   * Read the microsecond timestamp. By default, the time is based on the FPGA hardware clock in
+   * microseconds since the FPGA started. However, the return value of this method may be modified
+   * to use any time base, including non-monotonic and non-continuous time bases.
+   *
+   * @return The current time in a measure.
+   */
+  public static Time getMeasureTime() {
+    return Microseconds.of(m_timeSource.getAsLong());
+  }
+
+  /**
+   * Read the microsecond timer from the FPGA.
+   *
+   * @return The current time in microseconds according to the FPGA.
+   */
+  public static long getFPGATime() {
+    return HALUtil.getFPGATime();
+  }
+
+  /**
+   * Read the microsecond timer in a measure from the FPGA.
+   *
+   * @return The current time according to the FPGA in a measure.
+   */
+  public static Time getMeasureFPGATime() {
+    return Microseconds.of(HALUtil.getFPGATime());
+  }
+
+  /**
+   * Read the battery voltage.
+   *
+   * @return The battery voltage in Volts.
+   */
+  public static double getBatteryVoltage() {
+    return PowerJNI.getVinVoltage();
+  }
+
+  /**
+   * Read the battery voltage in a measure.
+   *
+   * @return The battery voltage in a measure.
+   */
+  public static Voltage getMeasureBatteryVoltage() {
+    return Volts.of(PowerJNI.getVinVoltage());
+  }
+
+  /**
+   * Gets a value indicating whether 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.
+   */
+  public static boolean isSysActive() {
+    return HAL.getSystemActive();
+  }
+
+  /**
+   * Check if the system is browned out.
+   *
+   * @return True if the system is browned out
+   */
+  public static boolean isBrownedOut() {
+    return HAL.getBrownedOut();
+  }
+
+  /**
+   * Gets the number of times the system has been disabled due to communication errors with the
+   * Driver Station.
+   *
+   * @return number of disables due to communication errors.
+   */
+  public static int getCommsDisableCount() {
+    return HAL.getCommsDisableCount();
+  }
+
+  /**
+   * Gets the current state of the Robot Signal Light (RSL).
+   *
+   * @return The current state of the RSL- true if on, false if off
+   */
+  public static boolean getRSLState() {
+    return HAL.getRSLState();
+  }
+
+  /**
+   * Gets if the system time is valid.
+   *
+   * @return True if the system time is valid, false otherwise
+   */
+  public static boolean isSystemTimeValid() {
+    return HAL.getSystemTimeValid();
+  }
+
+  /**
+   * Get the input voltage to the robot controller.
+   *
+   * @return The controller input voltage value in Volts
+   */
+  public static double getInputVoltage() {
+    return PowerJNI.getVinVoltage();
+  }
+
+  /**
+   * Get the input voltage to the robot controller in a measure.
+   *
+   * @return The controller input voltage value in a measure.
+   */
+  public static Voltage getMeasureInputVoltage() {
+    return Volts.of(PowerJNI.getVinVoltage());
+  }
+
+  /**
+   * Get the voltage of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail voltage value in Volts
+   */
+  public static double getVoltage3V3() {
+    return PowerJNI.getUserVoltage3V3();
+  }
+
+  /**
+   * Get the voltage in a measure of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail voltage value in a measure.
+   */
+  public static Voltage getMeasureVoltage3V3() {
+    return Volts.of(PowerJNI.getUserVoltage3V3());
+  }
+
+  /**
+   * Get the current output of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail output current value in Amps
+   */
+  public static double getCurrent3V3() {
+    return PowerJNI.getUserCurrent3V3();
+  }
+
+  /**
+   * Get the current output in a measure of the 3.3V rail.
+   *
+   * @return The controller 3.3V rail output current value in a measure.
+   */
+  public static Current getMeasureCurrent3V3() {
+    return Amps.of(PowerJNI.getUserCurrent3V3());
+  }
+
+  /**
+   * Enables or disables the 3.3V rail.
+   *
+   * @param enabled whether to enable the 3.3V rail.
+   */
+  public static void setEnabled3V3(boolean enabled) {
+    PowerJNI.setUserEnabled3V3(enabled);
+  }
+
+  /**
+   * 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
+   */
+  public static boolean getEnabled3V3() {
+    return PowerJNI.getUserActive3V3();
+  }
+
+  /**
+   * Get the count of the total current faults on the 3.3V rail since the code started.
+   *
+   * @return The number of faults
+   */
+  public static int getFaultCount3V3() {
+    return PowerJNI.getUserCurrentFaults3V3();
+  }
+
+  /** Reset the overcurrent fault counters for all user rails to 0. */
+  public static void resetRailFaultCounts() {
+    PowerJNI.resetUserCurrentFaults();
+  }
+
+  /**
+   * Get the current brownout voltage setting.
+   *
+   * @return The brownout voltage
+   */
+  public static double getBrownoutVoltage() {
+    return PowerJNI.getBrownoutVoltage();
+  }
+
+  /**
+   * Get the current brownout voltage setting in a measure.
+   *
+   * @return The brownout voltage in a measure.
+   */
+  public static Voltage getMeasureBrownoutVoltage() {
+    return Volts.of(PowerJNI.getBrownoutVoltage());
+  }
+
+  /**
+   * Set the voltage the roboRIO will brownout and disable all outputs.
+   *
+   * <p>Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.
+   *
+   * @param brownoutVoltage The brownout voltage
+   */
+  public static void setBrownoutVoltage(double brownoutVoltage) {
+    PowerJNI.setBrownoutVoltage(brownoutVoltage);
+  }
+
+  /**
+   * Set the voltage in a measure the roboRIO will brownout and disable all outputs.
+   *
+   * <p>Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.
+   *
+   * @param brownoutVoltage The brownout voltage in a measure
+   */
+  public static void setBrownoutVoltage(Voltage brownoutVoltage) {
+    PowerJNI.setBrownoutVoltage(brownoutVoltage.baseUnitMagnitude());
+  }
+
+  /**
+   * Get the current CPU temperature in degrees Celsius.
+   *
+   * @return current CPU temperature in degrees Celsius
+   */
+  public static double getCPUTemp() {
+    return PowerJNI.getCPUTemp();
+  }
+
+  /**
+   * Get the current CPU temperature in a measure.
+   *
+   * @return current CPU temperature in a measure.
+   */
+  public static Temperature getMeasureCPUTemp() {
+    return Celsius.of(PowerJNI.getCPUTemp());
+  }
+
+  /**
+   * Get the current status of the CAN bus.
+   *
+   * @param busId The bus ID
+   * @return The status of the CAN bus
+   */
+  public static CANStatus getCANStatus(int busId) {
+    CANStatus status = new CANStatus();
+    CANJNI.getCANStatus(busId, status);
+    return status;
+  }
+}