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https://github.com/wpilibsuite/allwpilib
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3050e935a1
When not direct mapped, make index constructors private and add factory functions for channel and index. Co-authored-by: GabrielDeml <gabrielddeml@gmail.com>
152 lines
3.8 KiB
C++
152 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2020 FIRST. 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 "frc/PowerDistributionPanel.h"
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#include <hal/FRCUsageReporting.h>
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#include <hal/PDP.h>
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#include <hal/Ports.h>
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#include <wpi/SmallString.h>
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#include <wpi/raw_ostream.h>
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#include "frc/SensorUtil.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.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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m_handle = HAL_InitializePDP(module, &status);
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if (status != 0) {
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wpi_setHALErrorWithRange(status, 0, HAL_GetNumPDPModules(), module);
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
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SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
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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_handle, &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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double PowerDistributionPanel::GetTemperature() const {
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int32_t status = 0;
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double temperature = HAL_GetPDPTemperature(m_handle, &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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double PowerDistributionPanel::GetCurrent(int channel) const {
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int32_t status = 0;
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if (!SensorUtil::CheckPDPChannel(channel)) {
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wpi::SmallString<32> str;
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wpi::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_handle, 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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double PowerDistributionPanel::GetTotalCurrent() const {
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int32_t status = 0;
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double current = HAL_GetPDPTotalCurrent(m_handle, &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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double PowerDistributionPanel::GetTotalPower() const {
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int32_t status = 0;
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double power = HAL_GetPDPTotalPower(m_handle, &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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double PowerDistributionPanel::GetTotalEnergy() const {
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int32_t status = 0;
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double energy = HAL_GetPDPTotalEnergy(m_handle, &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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void PowerDistributionPanel::ResetTotalEnergy() {
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int32_t status = 0;
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HAL_ResetPDPTotalEnergy(m_handle, &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::ClearStickyFaults() {
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int32_t status = 0;
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HAL_ClearPDPStickyFaults(m_handle, &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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int PowerDistributionPanel::GetModule() const { return m_module; }
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void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("PowerDistributionPanel");
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for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
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builder.AddDoubleProperty(
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"Chan" + wpi::Twine(i), [=]() { return GetCurrent(i); }, nullptr);
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}
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builder.AddDoubleProperty(
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"Voltage", [=]() { return GetVoltage(); }, nullptr);
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builder.AddDoubleProperty(
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"TotalCurrent", [=]() { return GetTotalCurrent(); }, nullptr);
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}
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