Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
new file mode 100644
index 0000000..7d7d916
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
@@ -0,0 +1,148 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/PowerDistributionPanel.h"
+
+#include <hal/FRCUsageReporting.h>
+#include <hal/PDP.h>
+#include <hal/Ports.h>
+#include <wpi/SmallString.h>
+#include <wpi/raw_ostream.h>
+
+#include "frc/SensorUtil.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
+
+/**
+ * Initialize the PDP.
+ */
+PowerDistributionPanel::PowerDistributionPanel(int module) {
+ int32_t status = 0;
+ m_handle = HAL_InitializePDP(module, &status);
+ if (status != 0) {
+ wpi_setHALErrorWithRange(status, 0, HAL_GetNumPDPModules(), module);
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_PDP, module + 1);
+ SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
+}
+
+double PowerDistributionPanel::GetVoltage() const {
+ int32_t status = 0;
+
+ double voltage = HAL_GetPDPVoltage(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return voltage;
+}
+
+double PowerDistributionPanel::GetTemperature() const {
+ int32_t status = 0;
+
+ double temperature = HAL_GetPDPTemperature(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return temperature;
+}
+
+double PowerDistributionPanel::GetCurrent(int channel) const {
+ int32_t status = 0;
+
+ if (!SensorUtil::CheckPDPChannel(channel)) {
+ wpi::SmallString<32> str;
+ wpi::raw_svector_ostream buf(str);
+ buf << "PDP Channel " << channel;
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+ }
+
+ double current = HAL_GetPDPChannelCurrent(m_handle, channel, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return current;
+}
+
+double PowerDistributionPanel::GetTotalCurrent() const {
+ int32_t status = 0;
+
+ double current = HAL_GetPDPTotalCurrent(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return current;
+}
+
+double PowerDistributionPanel::GetTotalPower() const {
+ int32_t status = 0;
+
+ double power = HAL_GetPDPTotalPower(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return power;
+}
+
+double PowerDistributionPanel::GetTotalEnergy() const {
+ int32_t status = 0;
+
+ double energy = HAL_GetPDPTotalEnergy(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+
+ return energy;
+}
+
+void PowerDistributionPanel::ResetTotalEnergy() {
+ int32_t status = 0;
+
+ HAL_ResetPDPTotalEnergy(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+}
+
+void PowerDistributionPanel::ClearStickyFaults() {
+ int32_t status = 0;
+
+ HAL_ClearPDPStickyFaults(m_handle, &status);
+
+ if (status) {
+ wpi_setWPIErrorWithContext(Timeout, "");
+ }
+}
+
+void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("PowerDistributionPanel");
+ for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
+ builder.AddDoubleProperty("Chan" + wpi::Twine(i),
+ [=]() { return GetCurrent(i); }, nullptr);
+ }
+ builder.AddDoubleProperty("Voltage", [=]() { return GetVoltage(); }, nullptr);
+ builder.AddDoubleProperty("TotalCurrent", [=]() { return GetTotalCurrent(); },
+ nullptr);
+}