Update to 2018_v4 image and new build system. (#598)

* Revert "Force OpenCV to 3.1.0 (#602)" This reverts commit 50ed55e8e2. * Removes Simulation * Removes old build system * Removes old gtest * Adds new gmock and gtest * Updates to new ni-libraries * removes MyRobot (to be replaced) * moves files to new location * Adds new sim backend and new test executables * updates .styleguide and .gitignore * Changes cpp WPILibVersion to a function MSVC throws an AV with the old version. * Disables USBCamera on all systems except for linux * 2018 NI Libraries * New build system
2026-06-23 01:21:42 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/hal/src/main/native/athena/Power.cpp
+++ b/hal/src/main/native/athena/Power.cpp
@@ -0,0 +1,145 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 "HAL/Power.h"
+
+#include <memory>
+
+#include "HAL/ChipObject.h"
+
+using namespace hal;
+
+namespace hal {
+
+static std::unique_ptr<tPower> power;
+
+static void initializePower(int32_t* status) {
+  if (power == nullptr) {
+    power.reset(tPower::create(status));
+  }
+}
+
+}  // namespace hal
+
+extern "C" {
+
+/**
+ * Get the roboRIO input voltage
+ */
+double HAL_GetVinVoltage(int32_t* status) {
+  initializePower(status);
+  return power->readVinVoltage(status) / 4.096 * 0.025733 - 0.029;
+}
+
+/**
+ * Get the roboRIO input current
+ */
+double HAL_GetVinCurrent(int32_t* status) {
+  initializePower(status);
+  return power->readVinCurrent(status) / 4.096 * 0.017042 - 0.071;
+}
+
+/**
+ * Get the 6V rail voltage
+ */
+double HAL_GetUserVoltage6V(int32_t* status) {
+  initializePower(status);
+  return power->readUserVoltage6V(status) / 4.096 * 0.007019 - 0.014;
+}
+
+/**
+ * Get the 6V rail current
+ */
+double HAL_GetUserCurrent6V(int32_t* status) {
+  initializePower(status);
+  return power->readUserCurrent6V(status) / 4.096 * 0.005566 - 0.009;
+}
+
+/**
+ * Get the active state of the 6V rail
+ */
+HAL_Bool HAL_GetUserActive6V(int32_t* status) {
+  initializePower(status);
+  return power->readStatus_User6V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 6V rail
+ */
+int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
+  initializePower(status);
+  return static_cast<int32_t>(
+      power->readFaultCounts_OverCurrentFaultCount6V(status));
+}
+
+/**
+ * Get the 5V rail voltage
+ */
+double HAL_GetUserVoltage5V(int32_t* status) {
+  initializePower(status);
+  return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
+}
+
+/**
+ * Get the 5V rail current
+ */
+double HAL_GetUserCurrent5V(int32_t* status) {
+  initializePower(status);
+  return power->readUserCurrent5V(status) / 4.096 * 0.001996 - 0.002;
+}
+
+/**
+ * Get the active state of the 5V rail
+ */
+HAL_Bool HAL_GetUserActive5V(int32_t* status) {
+  initializePower(status);
+  return power->readStatus_User5V(status) == 4;
+}
+
+/**
+ * Get the fault count for the 5V rail
+ */
+int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
+  initializePower(status);
+  return static_cast<int32_t>(
+      power->readFaultCounts_OverCurrentFaultCount5V(status));
+}
+
+/**
+ * Get the 3.3V rail voltage
+ */
+double HAL_GetUserVoltage3V3(int32_t* status) {
+  initializePower(status);
+  return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
+}
+
+/**
+ * Get the 3.3V rail current
+ */
+double HAL_GetUserCurrent3V3(int32_t* status) {
+  initializePower(status);
+  return power->readUserCurrent3V3(status) / 4.096 * 0.002486 - 0.003;
+}
+
+/**
+ * Get the active state of the 3.3V rail
+ */
+HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
+  initializePower(status);
+  return power->readStatus_User3V3(status) == 4;
+}
+
+/**
+ * Get the fault count for the 3.3V rail
+ */
+int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
+  initializePower(status);
+  return static_cast<int32_t>(
+      power->readFaultCounts_OverCurrentFaultCount3V3(status));
+}
+
+}  // extern "C"