// 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. #pragma once #include #include #include #include #include namespace frc { /** * Class for getting voltage, current, temperature, power and energy from the * CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). */ class PowerDistribution : public wpi::Sendable, public wpi::SendableHelper { public: /// Default module number. static constexpr int kDefaultModule = -1; /** * Power distribution module type. */ enum class ModuleType { /// CTRE (Cross The Road Electronics) CTRE Power Distribution Panel (PDP). kCTRE = 1, /// REV Power Distribution Hub (PDH). kRev = 2 }; /** * Constructs a PowerDistribution object. * * Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 * for REV). */ PowerDistribution(); /** * Constructs a PowerDistribution object. * * @param module The CAN ID of the PDP/PDH * @param moduleType The type of module */ PowerDistribution(int module, ModuleType moduleType); PowerDistribution(PowerDistribution&&) = default; PowerDistribution& operator=(PowerDistribution&&) = default; ~PowerDistribution() override = 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. * * @return The input voltage in volts */ double GetVoltage() const; /** * Query the temperature of the PDP. * * Not supported on the Rev PDH and returns 0. * * * @return The temperature in degrees Celsius */ double GetTemperature() const; /** * Query the current of a single channel of the PDP/PDH. * * @param channel the channel to query (0-15 for PDP, 0-23 for PDH) * @return The current of the channel in Amperes */ double GetCurrent(int channel) const; /** * Query all currents of the PDP. * * @return The current of each channel in Amperes */ std::vector GetAllCurrents() const; /** * Query the total current of all monitored PDP/PDH channels. * * @return The total current drawn from all channels in Amperes */ double GetTotalCurrent() const; /** * Query the total power drawn from all monitored PDP channels. * * Not supported on the Rev PDH and returns 0. * * @return The total power drawn in Watts */ double GetTotalPower() const; /** * Query the total energy drawn from the monitored PDP channels. * * Not supported on the Rev PDH and returns 0. * * @return The total energy drawn in Joules */ double GetTotalEnergy() const; /** * Reset the total energy drawn from the PDP. * * Not supported on the Rev PDH and does nothing. * * @see PowerDistribution#GetTotalEnergy */ void ResetTotalEnergy(); /** * Remove all of the fault flags on the PDP/PDH. */ void ClearStickyFaults(); /** * Gets module number (CAN ID). */ int GetModule() const; /** * Gets module type. */ ModuleType GetType() const; /** * Gets whether the PDH switchable channel is turned on or off. Returns false * with the CTRE PDP. * * @return The output state of the PDH switchable channel */ bool GetSwitchableChannel() const; /** * Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP. * * @param enabled Whether to turn the PDH switchable channel on or off */ void SetSwitchableChannel(bool enabled); /** Version and device data received from a PowerDistribution device */ struct Version { /** Firmware major version number. */ uint32_t FirmwareMajor; /** Firmware minor version number. */ uint32_t FirmwareMinor; /** Firmware fix version number. */ uint32_t FirmwareFix; /** Hardware minor version number. */ uint32_t HardwareMinor; /** Hardware major version number. */ uint32_t HardwareMajor; /** Unique ID. */ uint32_t UniqueId; }; Version GetVersion() const; /** * Faults for a PowerDistribution device. These faults are only active while * the condition is active. */ struct Faults { /** Breaker fault on channel 0. */ uint32_t Channel0BreakerFault : 1; /** Breaker fault on channel 1. */ uint32_t Channel1BreakerFault : 1; /** Breaker fault on channel 2. */ uint32_t Channel2BreakerFault : 1; /** Breaker fault on channel 3. */ uint32_t Channel3BreakerFault : 1; /** Breaker fault on channel 4. */ uint32_t Channel4BreakerFault : 1; /** Breaker fault on channel 5. */ uint32_t Channel5BreakerFault : 1; /** Breaker fault on channel 6. */ uint32_t Channel6BreakerFault : 1; /** Breaker fault on channel 7. */ uint32_t Channel7BreakerFault : 1; /** Breaker fault on channel 8. */ uint32_t Channel8BreakerFault : 1; /** Breaker fault on channel 9. */ uint32_t Channel9BreakerFault : 1; /** Breaker fault on channel 10. */ uint32_t Channel10BreakerFault : 1; /** Breaker fault on channel 12. */ uint32_t Channel11BreakerFault : 1; /** Breaker fault on channel 13. */ uint32_t Channel12BreakerFault : 1; /** Breaker fault on channel 14. */ uint32_t Channel13BreakerFault : 1; /** Breaker fault on channel 15. */ uint32_t Channel14BreakerFault : 1; /** Breaker fault on channel 16. */ uint32_t Channel15BreakerFault : 1; /** Breaker fault on channel 17. */ uint32_t Channel16BreakerFault : 1; /** Breaker fault on channel 18. */ uint32_t Channel17BreakerFault : 1; /** Breaker fault on channel 19. */ uint32_t Channel18BreakerFault : 1; /** Breaker fault on channel 20. */ uint32_t Channel19BreakerFault : 1; /** Breaker fault on channel 21. */ uint32_t Channel20BreakerFault : 1; /** Breaker fault on channel 22. */ uint32_t Channel21BreakerFault : 1; /** Breaker fault on channel 23. */ uint32_t Channel22BreakerFault : 1; /** Breaker fault on channel 24. */ uint32_t Channel23BreakerFault : 1; /** The input voltage is below the minimum voltage. */ uint32_t Brownout : 1; /** A warning was raised by the device's CAN controller. */ uint32_t CanWarning : 1; /** The hardware on the device has malfunctioned. */ uint32_t HardwareFault : 1; /** * Gets whether there is a breaker fault at a specified channel. * @param channel Channel to check for faults. * @return If there is a breaker fault. * @throws A ChannelIndexOutOfRange error if the given int is outside of the * range supported by the hardware. */ bool GetBreakerFault(int channel) const; }; /** * Returns the power distribution faults. * * On a CTRE PDP, this will return an object with no faults active. * * @return The power distribution faults. */ Faults GetFaults() const; /** * Sticky faults for a PowerDistribution device. These faults will remain * active until they are reset by the user. */ struct StickyFaults { /** Breaker fault on channel 0. */ uint32_t Channel0BreakerFault : 1; /** Breaker fault on channel 1. */ uint32_t Channel1BreakerFault : 1; /** Breaker fault on channel 2. */ uint32_t Channel2BreakerFault : 1; /** Breaker fault on channel 3. */ uint32_t Channel3BreakerFault : 1; /** Breaker fault on channel 4. */ uint32_t Channel4BreakerFault : 1; /** Breaker fault on channel 5. */ uint32_t Channel5BreakerFault : 1; /** Breaker fault on channel 6. */ uint32_t Channel6BreakerFault : 1; /** Breaker fault on channel 7. */ uint32_t Channel7BreakerFault : 1; /** Breaker fault on channel 8. */ uint32_t Channel8BreakerFault : 1; /** Breaker fault on channel 9. */ uint32_t Channel9BreakerFault : 1; /** Breaker fault on channel 10. */ uint32_t Channel10BreakerFault : 1; /** Breaker fault on channel 12. */ uint32_t Channel11BreakerFault : 1; /** Breaker fault on channel 13. */ uint32_t Channel12BreakerFault : 1; /** Breaker fault on channel 14. */ uint32_t Channel13BreakerFault : 1; /** Breaker fault on channel 15. */ uint32_t Channel14BreakerFault : 1; /** Breaker fault on channel 16. */ uint32_t Channel15BreakerFault : 1; /** Breaker fault on channel 17. */ uint32_t Channel16BreakerFault : 1; /** Breaker fault on channel 18. */ uint32_t Channel17BreakerFault : 1; /** Breaker fault on channel 19. */ uint32_t Channel18BreakerFault : 1; /** Breaker fault on channel 20. */ uint32_t Channel19BreakerFault : 1; /** Breaker fault on channel 21. */ uint32_t Channel20BreakerFault : 1; /** Breaker fault on channel 22. */ uint32_t Channel21BreakerFault : 1; /** Breaker fault on channel 23. */ uint32_t Channel22BreakerFault : 1; /** Breaker fault on channel 24. */ uint32_t Channel23BreakerFault : 1; /** The input voltage is below the minimum voltage. */ uint32_t Brownout : 1; /** A warning was raised by the device's CAN controller. */ uint32_t CanWarning : 1; /** The device's CAN controller experienced a "Bus Off" event. */ uint32_t CanBusOff : 1; /** The hardware on the device has malfunctioned. */ uint32_t HardwareFault : 1; /** The firmware on the device has malfunctioned. */ uint32_t FirmwareFault : 1; /** The device has rebooted. */ uint32_t HasReset : 1; /** * Gets whether there is a sticky breaker fault at the specified channel. * @param channel Index to check for sticky faults. * @return True if there is a sticky breaker fault at the channel, otherwise * false. * @throws A ChannelIndexOutOfRange error if the provided channel is outside * of the range supported by the hardware. */ bool GetBreakerFault(int channel) const; }; /** * Returns the power distribution sticky faults. * * On a CTRE PDP, this will return an object with no faults active. * * @return The power distribution sticky faults. */ StickyFaults GetStickyFaults() const; void InitSendable(wpi::SendableBuilder& builder) override; private: hal::Handle m_handle; int m_module; }; } // namespace frc