Source code

001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.hal;
006
007/**
008 * Power Distribution JNI Functions.
009 *
010 * @see "hal/PowerDistribution.h"
011 */
012public class PowerDistributionJNI extends JNIWrapper {
013  /** Automatically determines the module type. */
014  public static final int AUTOMATIC_TYPE = 0;
015
016  /** CTRE (Cross The Road Electronics) Power Distribution Panel (PDP). */
017  public static final int CTRE_TYPE = 1;
018
019  /** REV Power Distribution Hub (PDH). */
020  public static final int REV_TYPE = 2;
021
022  /** Use the default module number for the selected module type. */
023  public static final int DEFAULT_MODULE = -1;
024
025  /**
026   * Initializes a Power Distribution Panel.
027   *
028   * @param busId the bus id
029   * @param module the module number to initialize
030   * @param type the type of module to initialize
031   * @return the created PowerDistribution handle
032   * @see "HAL_InitializePowerDistribution"
033   */
034  public static native int initialize(int busId, int module, int type);
035
036  /**
037   * Cleans a PowerDistribution module.
038   *
039   * @param handle the module handle
040   * @see "HAL_CleanPowerDistribution"
041   */
042  public static native void free(int handle);
043
044  /**
045   * Gets the module number for a specific handle.
046   *
047   * @param handle the module handle
048   * @return the module number
049   * @see "HAL_GetPowerDistributionModuleNumber"
050   */
051  public static native int getModuleNumber(int handle);
052
053  /**
054   * Checks if a PowerDistribution module is valid.
055   *
056   * @param module the module to check
057   * @param type the type of module
058   * @return true if the module is valid, otherwise false
059   * @see "HAL_CheckPowerDistributionModule"
060   */
061  public static native boolean checkModule(int module, int type);
062
063  /**
064   * Checks if a PowerDistribution channel is valid.
065   *
066   * @param handle the module handle
067   * @param channel the channel to check
068   * @return true if the channel is valid, otherwise false
069   * @see "HAL_CheckPowerDistributionChannel"
070   */
071  public static native boolean checkChannel(int handle, int channel);
072
073  /**
074   * Gets the type of PowerDistribution module.
075   *
076   * @param handle the module handle
077   * @return the type of module
078   * @see "HAL_GetPowerDistributionType"
079   */
080  public static native int getType(int handle);
081
082  /**
083   * Gets the number of channels for this handle.
084   *
085   * @param handle the handle
086   * @return number of channels
087   * @see "HAL_GetPowerDistributionNumChannels"
088   */
089  public static native int getNumChannels(int handle);
090
091  /**
092   * Gets the temperature of the PowerDistribution.
093   *
094   * <p>Not supported on the Rev PDH and returns 0.
095   *
096   * @param handle the module handle
097   * @return the module temperature (celsius)
098   * @see "HAL_GetPowerDistributionTemperature"
099   */
100  public static native double getTemperature(int handle);
101
102  /**
103   * Gets the PowerDistribution input voltage.
104   *
105   * @param handle the module handle
106   * @return the input voltage (volts)
107   * @see "HAL_GetPowerDistributionVoltage"
108   */
109  public static native double getVoltage(int handle);
110
111  /**
112   * Gets the current of a specific PowerDistribution channel.
113   *
114   * @param handle the module handle
115   * @param channel the channel
116   * @return the channel current (amps)
117   * @see "HAL_GetPowerDistributionChannelCurrent"
118   */
119  public static native double getChannelCurrent(int handle, int channel);
120
121  /**
122   * Gets the current of all channels on the PowerDistribution.
123   *
124   * <p>The array must be large enough to hold all channels.
125   *
126   * @param handle the module handle
127   * @param currents the currents
128   * @see "HAL_GetPowerDistributionAllChannelCurrents"
129   */
130  public static native void getAllCurrents(int handle, double[] currents);
131
132  /**
133   * Gets the total current of the PowerDistribution.
134   *
135   * @param handle the module handle
136   * @return the total current (amps)
137   * @see "HAL_GetPowerDistributionTotalCurrent"
138   */
139  public static native double getTotalCurrent(int handle);
140
141  /**
142   * Gets the total power of the Power Distribution Panel.
143   *
144   * <p>Not supported on the Rev PDH and returns 0.
145   *
146   * @param handle the module handle
147   * @return the total power (watts)
148   * @see "HAL_GetPowerDistributionTotalPower"
149   */
150  public static native double getTotalPower(int handle);
151
152  /**
153   * Gets the total energy of the Power Distribution Panel.
154   *
155   * <p>Not supported on the Rev PDH and does nothing.
156   *
157   * @param handle the module handle
158   * @return the total energy (joules)
159   * @see "HAL_GetPowerDistributionTotalEnergy"
160   */
161  public static native double getTotalEnergy(int handle);
162
163  /**
164   * Resets the Power Distribution Panel accumulated energy.
165   *
166   * <p>Not supported on the Rev PDH and returns 0.
167   *
168   * @param handle the module handle
169   * @see "HAL_ClearPowerDistributionStickyFaults"
170   */
171  public static native void resetTotalEnergy(int handle);
172
173  /**
174   * Clears any PowerDistribution sticky faults.
175   *
176   * @param handle the module handle
177   * @see "HAL_ClearPowerDistributionStickyFaults"
178   */
179  public static native void clearStickyFaults(int handle);
180
181  /**
182   * Returns true if switchable channel is powered on.
183   *
184   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
185   *
186   * @param handle the module handle
187   * @return the state of the switchable channel
188   * @see "HAL_GetPowerDistributionSwitchableChannel"
189   */
190  public static native boolean getSwitchableChannel(int handle);
191
192  /**
193   * Power on/off switchable channel.
194   *
195   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
196   *
197   * @param handle the module handle
198   * @param enabled true to turn on switchable channel
199   * @see "HAL_SetPowerDistributionSwitchableChannel"
200   */
201  public static native void setSwitchableChannel(int handle, boolean enabled);
202
203  /**
204   * Gets the PowerDistribution input voltage without throwing any errors.
205   *
206   * @param handle the module handle
207   * @return the input voltage (volts)
208   * @see "HAL_GetPowerDistributionVoltage"
209   */
210  public static native double getVoltageNoError(int handle);
211
212  /**
213   * Gets the current of a specific PowerDistribution channel without throwing any errors.
214   *
215   * @param handle the module handle
216   * @param channel the channel
217   * @return the channel current (amps)
218   * @see "HAL_GetPowerDistributionChannelCurrent"
219   */
220  public static native double getChannelCurrentNoError(int handle, int channel);
221
222  /**
223   * Gets the total current of the PowerDistribution without throwing any errors.
224   *
225   * @param handle the module handle
226   * @return the total current (amps)
227   * @see "HAL_GetPowerDistributionTotalCurrent"
228   */
229  public static native double getTotalCurrentNoError(int handle);
230
231  /**
232   * Returns true if switchable channel is powered on without throwing any errors.
233   *
234   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
235   *
236   * @param handle the module handle
237   * @return the state of the switchable channel
238   * @see "HAL_GetPowerDistributionSwitchableChannel"
239   */
240  public static native boolean getSwitchableChannelNoError(int handle);
241
242  /**
243   * Power on/off switchable channel without throwing any errors.
244   *
245   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
246   *
247   * @param handle the module handle
248   * @param enabled true to turn on switchable channel
249   * @see "HAL_SetPowerDistributionSwitchableChannel"
250   */
251  public static native void setSwitchableChannelNoError(int handle, boolean enabled);
252
253  /**
254   * Get the current faults of the PowerDistribution.
255   *
256   * @param handle the module handle
257   * @return the current faults
258   * @see "HAL_GetPowerDistributionFaults"
259   */
260  public static native int getFaultsNative(int handle);
261
262  /**
263   * Get the current faults of the PowerDistribution.
264   *
265   * @param handle the module handle
266   * @return the current faults
267   * @see "HAL_GetPowerDistributionFaults"
268   */
269  public static PowerDistributionFaults getFaults(int handle) {
270    return new PowerDistributionFaults(getFaultsNative(handle));
271  }
272
273  /**
274   * Gets the sticky faults of the PowerDistribution.
275   *
276   * @param handle the module handle
277   * @return the sticky faults
278   * @see "HAL_GetPowerDistributionStickyFaults"
279   */
280  public static native int getStickyFaultsNative(int handle);
281
282  /**
283   * Gets the sticky faults of the PowerDistribution.
284   *
285   * @param handle the module handle
286   * @return the sticky faults
287   * @see "HAL_GetPowerDistributionStickyFaults"
288   */
289  public static PowerDistributionStickyFaults getStickyFaults(int handle) {
290    return new PowerDistributionStickyFaults(getStickyFaultsNative(handle));
291  }
292
293  /**
294   * Get the version of the PowerDistribution.
295   *
296   * @param handle the module handle
297   * @return version
298   * @see "HAL_GetPowerDistributionVersion"
299   */
300  public static native PowerDistributionVersion getVersion(int handle);
301
302  /** Utility class. */
303  private PowerDistributionJNI() {}
304}