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[wpilib] Fix PowerDistribution.GetAllCurrents() (#6025)

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This commit is contained in:
scarmain
2024-05-24 19:31:19 -04:00
committed by GitHub
parent f42bc45ee8
commit c62396ce4e
6 changed files with 104 additions and 7 deletions
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22
wpilibc/src/main/native/cpp/PowerDistribution.cpp
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@@ -64,6 +64,13 @@ PowerDistribution::~PowerDistribution() {
}
}
int PowerDistribution::GetNumChannels() const {
int32_t status = 0;
int32_t size = HAL_GetPowerDistributionNumChannels(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
return size;
}
double PowerDistribution::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetPowerDistributionVoltage(m_handle, &status);
@@ -87,6 +94,17 @@ double PowerDistribution::GetCurrent(int channel) const {
return current;
}
std::vector<double> PowerDistribution::GetAllCurrents() const {
int32_t status = 0;
int32_t size = GetNumChannels();
std::vector<double> currents(size);
HAL_GetPowerDistributionAllChannelCurrents(m_handle, currents.data(), size,
&status);
FRC_ReportError(status, "Module {}", m_module);
return currents;
}
double PowerDistribution::GetTotalCurrent() const {
int32_t status = 0;
double current = HAL_GetPowerDistributionTotalCurrent(m_handle, &status);
@@ -300,9 +318,7 @@ PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistribution");
int32_t status = 0;
int numChannels = HAL_GetPowerDistributionNumChannels(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
int numChannels = GetNumChannels();
// Use manual reads to avoid printing errors
for (int i = 0; i < numChannels; ++i) {
builder.AddDoubleProperty(

16
wpilibc/src/main/native/include/frc/PowerDistribution.h
View File

@@ -4,6 +4,8 @@
#pragma once
#include <vector>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -50,6 +52,13 @@ class PowerDistribution : public wpi::Sendable,
PowerDistribution(PowerDistribution&&) = default;
PowerDistribution& operator=(PowerDistribution&&) = default;
/**
* Gets the number of channels for this power distribution object.
*
* @return Number of output channels (16 for PDP, 24 for PDH).
*/
int GetNumChannels() const;
/**
* Query the input voltage of the PDP/PDH.
*
@@ -75,6 +84,13 @@ class PowerDistribution : public wpi::Sendable,
*/
double GetCurrent(int channel) const;
/**
* Query all currents of the PDP.
*
* @return The current of each channel in Amperes
*/
std::vector<double> GetAllCurrents() const;
/**
* Query the total current of all monitored PDP/PDH channels.
*