[hal] Expose power rail disable and cpu temp functionality (#5477)

hal/src/main/java/edu/wpi/first/hal/PowerJNI.java

@@ -42,6 +42,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent6V();
 
+  /**
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled6V(boolean enabled);
+
   /**
    * Gets the active state of the 6V rail.
    *
@@ -74,6 +81,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent5V();
 
+  /**
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled5V(boolean enabled);
+
   /**
    * Gets the active state of the 5V rail.
    *
@@ -106,6 +120,13 @@ public class PowerJNI extends JNIWrapper {
    */
   public static native double getUserCurrent3V3();
 
+  /**
+   * Enables or disables the 3V3 rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled3V3(boolean enabled);
+
   /**
    * Gets the active state of the 3V3 rail.
    *
@@ -139,4 +160,11 @@ public class PowerJNI extends JNIWrapper {
    * @see "HAL_GetBrownoutVoltage"
    */
   public static native double getBrownoutVoltage();
+
+  /**
+   * Get the current CPU temperature in degrees Celsius.
+   *
+   * @return current CPU temperature in degrees Celsius
+   */
+  public static native double getCPUTemp();
 }

hal/src/main/native/athena/Power.cpp

@@ -61,6 +61,11 @@ int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount6V(status));
 }
 
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {
+  initializePower(status);
+  power->writeDisable_User6V(!enabled, status);
+}
+
 double HAL_GetUserVoltage5V(int32_t* status) {
   initializePower(status);
   return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
@@ -82,6 +87,11 @@ int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount5V(status));
 }
 
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {
+  initializePower(status);
+  power->writeDisable_User5V(!enabled, status);
+}
+
 double HAL_GetUserVoltage3V3(int32_t* status) {
   initializePower(status);
   return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
@@ -103,6 +113,11 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount3V3(status));
 }
 
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {
+  initializePower(status);
+  power->writeDisable_User3V3(!enabled, status);
+}
+
 void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
   initializePower(status);
   if (voltage < 0) {
@@ -121,4 +136,9 @@ double HAL_GetBrownoutVoltage(int32_t* status) {
   return brownout / 4.0;
 }
 
+double HAL_GetCPUTemp(int32_t* status) {
+  initializePower(status);
+  return power->readOnChipTemperature(status) / 4096.0 * 503.975 - 273.15;
+}
+
 }  // extern "C"

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -28,6 +28,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, 0)
 DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
 DEFINE_CAPI(double, BrownoutVoltage, 6.75)
+DEFINE_CAPI(int32_t, CPUTemp, 16)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

hal/src/main/native/cpp/jni/PowerJNI.cpp

@@ -72,6 +72,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent6V
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    setUserEnabled6V
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled6V
+  (JNIEnv* env, jclass, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetUserRailEnabled6V(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive6V
@@ -132,6 +146,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent5V
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    setUserEnabled5V
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled5V
+  (JNIEnv* env, jclass, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetUserRailEnabled5V(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive5V
@@ -192,6 +220,20 @@ Java_edu_wpi_first_hal_PowerJNI_getUserCurrent3V3
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    setUserEnabled3V3
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled3V3
+  (JNIEnv* env, jclass, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetUserRailEnabled3V3(enabled, &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PowerJNI
  * Method:    getUserActive3V3
@@ -251,4 +293,19 @@ Java_edu_wpi_first_hal_PowerJNI_getBrownoutVoltage
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PowerJNI
+ * Method:    getCPUTemp
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerJNI_getCPUTemp
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  double val = HAL_GetCPUTemp(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
 }  // extern "C"

hal/src/main/native/include/hal/Power.h

@@ -66,6 +66,14 @@ HAL_Bool HAL_GetUserActive6V(int32_t* status);
  */
 int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
 
+/**
+ * Enables or disables the 6V rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status);
+
 /**
  * Gets the 5V rail voltage.
  *
@@ -98,6 +106,14 @@ HAL_Bool HAL_GetUserActive5V(int32_t* status);
  */
 int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
 
+/**
+ * Enables or disables the 5V rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status);
+
 /**
  * Gets the 3V3 rail voltage.
  *
@@ -130,6 +146,14 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status);
  */
 int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
 
+/**
+ * Enables or disables the 3V3 rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status);
+
 /**
  * Get the current brownout voltage setting.
  *
@@ -149,6 +173,14 @@ double HAL_GetBrownoutVoltage(int32_t* status);
  */
 void HAL_SetBrownoutVoltage(double voltage, int32_t* status);
 
+/**
+ * Get the current CPU temperature in degrees Celsius
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return current CPU temperature in degrees Celsius
+ */
+double HAL_GetCPUTemp(int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/hal/simulation/RoboRioData.h

@@ -141,6 +141,13 @@ void HALSIM_SetRoboRioComments(const char* comments, size_t size);
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify);
 
+int32_t HALSIM_RegisterRoboRioCPUTempCallback(HAL_NotifyCallback callback,
+                                              void* param,
+                                              HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioCPUTempCallback(int32_t uid);
+HAL_Bool HALSIM_GetRoboRioCPUTemp(void);
+void HALSIM_SetRoboRioUserCPUTemp(HAL_Bool userActive3V3);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/sim/Power.cpp

@@ -32,6 +32,7 @@ HAL_Bool HAL_GetUserActive6V(int32_t* status) {
 int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
   return SimRoboRioData->userFaults6V;
 }
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {}
 double HAL_GetUserVoltage5V(int32_t* status) {
   return SimRoboRioData->userVoltage5V;
 }
@@ -44,6 +45,7 @@ HAL_Bool HAL_GetUserActive5V(int32_t* status) {
 int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
   return SimRoboRioData->userFaults5V;
 }
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {}
 double HAL_GetUserVoltage3V3(int32_t* status) {
   return SimRoboRioData->userVoltage3V3;
 }
@@ -56,10 +58,14 @@ HAL_Bool HAL_GetUserActive3V3(int32_t* status) {
 int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
   return SimRoboRioData->userFaults3V3;
 }
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {}
 void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
   SimRoboRioData->brownoutVoltage = voltage;
 }
 double HAL_GetBrownoutVoltage(int32_t* status) {
   return SimRoboRioData->brownoutVoltage;
 }
+double HAL_GetCPUTemp(int32_t* status) {
+  return SimRoboRioData->cpuTemp;
+}
 }  // extern "C"

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -32,6 +32,7 @@ void RoboRioData::ResetData() {
   userFaults5V.Reset(0);
   userFaults3V3.Reset(0);
   brownoutVoltage.Reset(6.75);
+  cpuTemp.Reset(100);
   m_serialNumber = "";
   m_comments = "";
 }
@@ -132,6 +133,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
 DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
 DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
 DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
+DEFINE_CAPI(int32_t, CPUTemp, cpuTemp)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
@@ -187,5 +189,6 @@ void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
   REGISTER(userFaults5V);
   REGISTER(userFaults3V3);
   REGISTER(brownoutVoltage);
+  REGISTER(cpuTemp);
 }
 }  // extern "C"

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -30,6 +30,7 @@ class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults5V)
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
   HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
+  HAL_SIMDATAVALUE_DEFINE_NAME(CPUTemp)
 
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Comments);
@@ -57,6 +58,7 @@ class RoboRioData {
   SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
   SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
       6.75};
+  SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{100};
 
   int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
                                        void* param, HAL_Bool initialNotify);

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -111,6 +111,12 @@ double RobotController::GetCurrent3V3() {
   return retVal;
 }
 
+void RobotController::SetEnabled3V3(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled3V3(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled3V3");
+}
+
 bool RobotController::GetEnabled3V3() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive3V3(&status);
@@ -139,6 +145,12 @@ double RobotController::GetCurrent5V() {
   return retVal;
 }
 
+void RobotController::SetEnabled5V(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled5V(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled5V");
+}
+
 bool RobotController::GetEnabled5V() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive5V(&status);
@@ -167,6 +179,12 @@ double RobotController::GetCurrent6V() {
   return retVal;
 }
 
+void RobotController::SetEnabled6V(bool enabled) {
+  int32_t status = 0;
+  HAL_SetUserRailEnabled6V(enabled, &status);
+  FRC_CheckErrorStatus(status, "SetEnabled6V");
+}
+
 bool RobotController::GetEnabled6V() {
   int32_t status = 0;
   bool retVal = HAL_GetUserActive6V(&status);
@@ -194,6 +212,13 @@ void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
   FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
 }
 
+units::celsius_t RobotController::GetCPUTemp() {
+  int32_t status = 0;
+  double retVal = HAL_GetCPUTemp(&status);
+  FRC_CheckErrorStatus(status, "GetCPUTemp");
+  return units::celsius_t{retVal};
+}
+
 CANStatus RobotController::GetCANStatus() {
   int32_t status = 0;
   float percentBusUtilization = 0;

wpilibc/src/main/native/include/frc/RobotController.h

@@ -8,6 +8,7 @@
 
 #include <string>
 
+#include <units/temperature.h>
 #include <units/voltage.h>
 
 namespace frc {
@@ -136,9 +137,16 @@ class RobotController {
   static double GetCurrent3V3();
 
   /**
-   * 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.
+   * Enables or disables the 3.3V rail.
+   *
+   * @param enabled whether to enable the 3.3V rail.
+   */
+  static void SetEnabled3V3(bool enabled);
+
+  /**
+   * Get the enabled state of the 3.3V rail. The rail may be disabled due to
+   * calling SetEnabled3V3(), a controller brownout, a short circuit on the
+   * rail, or controller over-voltage.
    *
    * @return The controller 3.3V rail enabled value. True for enabled.
    */
@@ -167,9 +175,16 @@ class RobotController {
   static double GetCurrent5V();
 
   /**
-   * Get the enabled state of the 5V rail. The rail may be disabled due to a
-   * controller brownout, a short circuit on the rail, or controller
-   * over-voltage.
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether to enable the 5V rail.
+   */
+  static void SetEnabled5V(bool enabled);
+
+  /**
+   * Get the enabled state of the 5V rail. The rail may be disabled due to
+   * calling SetEnabled5V(), a controller brownout, a short circuit on the rail,
+   * or controller over-voltage.
    *
    * @return The controller 5V rail enabled value. True for enabled.
    */
@@ -198,9 +213,16 @@ class RobotController {
   static double GetCurrent6V();
 
   /**
-   * Get the enabled state of the 6V rail. The rail may be disabled due to a
-   * controller brownout, a short circuit on the rail, or controller
-   * over-voltage.
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether to enable the 6V rail.
+   */
+  static void SetEnabled6V(bool enabled);
+
+  /**
+   * Get the enabled state of the 6V rail. The rail may be disabled due to
+   * calling SetEnabled6V(), a controller brownout, a short circuit on the rail,
+   * or controller over-voltage.
    *
    * @return The controller 6V rail enabled value. True for enabled.
    */
@@ -231,6 +253,13 @@ class RobotController {
    */
   static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
 
+  /**
+   * Get the current CPU temperature.
+   *
+   * @return current CPU temperature
+   */
+  static units::celsius_t GetCPUTemp();
+
   /**
    * Get the current status of the CAN bus.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java

@@ -148,6 +148,15 @@ public final class RobotController {
     return 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.
@@ -185,6 +194,15 @@ public final class RobotController {
     return PowerJNI.getUserCurrent5V();
   }
 
+  /**
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether to enable the 5V rail.
+   */
+  public static void setEnabled5V(boolean enabled) {
+    PowerJNI.setUserEnabled5V(enabled);
+  }
+
   /**
    * Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a
    * short circuit on the rail, or controller over-voltage.
@@ -222,6 +240,15 @@ public final class RobotController {
     return PowerJNI.getUserCurrent6V();
   }
 
+  /**
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether to enable the 6V rail.
+   */
+  public static void setEnabled6V(boolean enabled) {
+    PowerJNI.setUserEnabled6V(enabled);
+  }
+
   /**
    * Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a
    * short circuit on the rail, or controller over-voltage.
@@ -261,6 +288,15 @@ public final class RobotController {
     PowerJNI.setBrownoutVoltage(brownoutVoltage);
   }
 
+  /**
+   * 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 status of the CAN bus.
    *