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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
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
211
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
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211
wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "PowerDistributionPanel.h"
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#include "HAL/HAL.h"
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#include "HAL/PDP.h"
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#include "HAL/Ports.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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#include "llvm/SmallString.h"
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#include "llvm/raw_ostream.h"
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using namespace frc;
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PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
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/**
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* Initialize the PDP.
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*/
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PowerDistributionPanel::PowerDistributionPanel(int module) : m_module(module) {
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int32_t status = 0;
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HAL_InitializePDP(m_module, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumPDPModules(), module,
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HAL_GetErrorMessage(status));
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m_module = -1;
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return;
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}
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}
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/**
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* Query the input voltage of the PDP.
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*
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* @return The voltage of the PDP in volts
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*/
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double PowerDistributionPanel::GetVoltage() const {
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int32_t status = 0;
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double voltage = HAL_GetPDPVoltage(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return voltage;
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}
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/**
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* Query the temperature of the PDP.
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*
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* @return The temperature of the PDP in degrees Celsius
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*/
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double PowerDistributionPanel::GetTemperature() const {
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int32_t status = 0;
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double temperature = HAL_GetPDPTemperature(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return temperature;
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}
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/**
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* Query the current of a single channel of the PDP.
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*
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* @return The current of one of the PDP channels (channels 0-15) in Amperes
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*/
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double PowerDistributionPanel::GetCurrent(int channel) const {
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int32_t status = 0;
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if (!CheckPDPChannel(channel)) {
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llvm::SmallString<32> str;
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llvm::raw_svector_ostream buf(str);
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buf << "PDP Channel " << channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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}
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double current = HAL_GetPDPChannelCurrent(m_module, channel, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return current;
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}
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/**
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* Query the total current of all monitored PDP channels (0-15).
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*
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* @return The the total current drawn from the PDP channels in Amperes
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*/
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double PowerDistributionPanel::GetTotalCurrent() const {
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int32_t status = 0;
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double current = HAL_GetPDPTotalCurrent(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return current;
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}
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/**
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* Query the total power drawn from the monitored PDP channels.
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*
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* @return The the total power drawn from the PDP channels in Watts
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*/
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double PowerDistributionPanel::GetTotalPower() const {
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int32_t status = 0;
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double power = HAL_GetPDPTotalPower(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return power;
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}
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/**
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* Query the total energy drawn from the monitored PDP channels.
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*
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* @return The the total energy drawn from the PDP channels in Joules
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*/
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double PowerDistributionPanel::GetTotalEnergy() const {
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int32_t status = 0;
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double energy = HAL_GetPDPTotalEnergy(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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return energy;
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}
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/**
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* Reset the total energy drawn from the PDP.
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*
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* @see PowerDistributionPanel#GetTotalEnergy
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*/
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void PowerDistributionPanel::ResetTotalEnergy() {
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int32_t status = 0;
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HAL_ResetPDPTotalEnergy(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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}
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/**
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* Remove all of the fault flags on the PDP.
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*/
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void PowerDistributionPanel::ClearStickyFaults() {
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int32_t status = 0;
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HAL_ClearPDPStickyFaults(m_module, &status);
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if (status) {
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wpi_setWPIErrorWithContext(Timeout, "");
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}
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}
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void PowerDistributionPanel::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Chan0", GetCurrent(0));
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m_table->PutNumber("Chan1", GetCurrent(1));
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m_table->PutNumber("Chan2", GetCurrent(2));
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m_table->PutNumber("Chan3", GetCurrent(3));
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m_table->PutNumber("Chan4", GetCurrent(4));
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m_table->PutNumber("Chan5", GetCurrent(5));
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m_table->PutNumber("Chan6", GetCurrent(6));
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m_table->PutNumber("Chan7", GetCurrent(7));
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m_table->PutNumber("Chan8", GetCurrent(8));
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m_table->PutNumber("Chan9", GetCurrent(9));
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m_table->PutNumber("Chan10", GetCurrent(10));
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m_table->PutNumber("Chan11", GetCurrent(11));
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m_table->PutNumber("Chan12", GetCurrent(12));
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m_table->PutNumber("Chan13", GetCurrent(13));
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m_table->PutNumber("Chan14", GetCurrent(14));
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m_table->PutNumber("Chan15", GetCurrent(15));
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m_table->PutNumber("Voltage", GetVoltage());
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m_table->PutNumber("TotalCurrent", GetTotalCurrent());
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}
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}
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void PowerDistributionPanel::StartLiveWindowMode() {}
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void PowerDistributionPanel::StopLiveWindowMode() {}
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std::string PowerDistributionPanel::GetSmartDashboardType() const {
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return "PowerDistributionPanel";
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}
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void PowerDistributionPanel::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> PowerDistributionPanel::GetTable() const {
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return m_table;
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}
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