mirror of
https://github.com/wpilibsuite/allwpilib
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d2aa168f66
* Makes the HAL provide a better error message for certain things. * Makes Java error messages better * Updates C++ errors. * Moves handles header folder to HAL directory
133 lines
2.9 KiB
C++
133 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 "HAL/PDP.h"
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#include "HAL/Errors.h"
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#include "HAL/Ports.h"
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#include "PortsInternal.h"
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#include "ctre/PDP.h"
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using namespace hal;
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static PDP* pdp[kNumPDPModules] = {nullptr};
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extern "C" {
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void HAL_InitializePDP(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = RESOURCE_OUT_OF_RANGE;
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return;
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}
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if (!pdp[module]) {
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pdp[module] = new PDP(module);
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}
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}
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HAL_Bool HAL_CheckPDPModule(int32_t module) {
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return (module < kNumPDPModules) && (module >= 0);
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}
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double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double temperature;
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*status = pdp[module]->GetTemperature(temperature);
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return temperature;
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}
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double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double voltage;
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*status = pdp[module]->GetVoltage(voltage);
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return voltage;
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}
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double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
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int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double current;
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*status = pdp[module]->GetChannelCurrent(channel, current);
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return current;
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}
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double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double current;
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*status = pdp[module]->GetTotalCurrent(current);
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return current;
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}
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double HAL_GetPDPTotalPower(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double power;
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*status = pdp[module]->GetTotalPower(power);
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return power;
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}
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double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return 0.0;
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}
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double energy;
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*status = pdp[module]->GetTotalEnergy(energy);
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return energy;
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}
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void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return;
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}
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*status = pdp[module]->ResetEnergy();
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}
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void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {
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if (!HAL_CheckPDPModule(module)) {
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*status = PARAMETER_OUT_OF_RANGE;
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return;
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}
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*status = pdp[module]->ClearStickyFaults();
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}
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} // extern "C"
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