frc971/wpilib/ahal/ControllerPower.cc

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011-2017. 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 "frc971/wpilib/ahal/ControllerPower.h"

#include <cstdint>

#include "frc971/wpilib/ahal/ErrorBase.h"
#include "hal/HAL.h"
#include "hal/Power.h"

using namespace frc;

/**
 * Get the input voltage to the robot controller.
 *
 * @return The controller input voltage value in Volts
 */
double ControllerPower::GetInputVoltage() {
  int32_t status = 0;
  double retVal = HAL_GetVinVoltage(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the input current to the robot controller.
 *
 * @return The controller input current value in Amps
 */
double ControllerPower::GetInputCurrent() {
  int32_t status = 0;
  double retVal = HAL_GetVinCurrent(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the voltage of the 6V rail.
 *
 * @return The controller 6V rail voltage value in Volts
 */
double ControllerPower::GetVoltage6V() {
  int32_t status = 0;
  double retVal = HAL_GetUserVoltage6V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the current output of the 6V rail.
 *
 * @return The controller 6V rail output current value in Amps
 */
double ControllerPower::GetCurrent6V() {
  int32_t status = 0;
  double retVal = HAL_GetUserCurrent6V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the enabled state of the 6V rail. The rail may be disabled due to a
 * controller brownout, a short circuit on the rail, or controller over-voltage.
 *
 * @return The controller 6V rail enabled value. True for enabled.
 */
bool ControllerPower::GetEnabled6V() {
  int32_t status = 0;
  bool retVal = HAL_GetUserActive6V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the count of the total current faults on the 6V rail since the controller
 * has booted.
 *
 * @return The number of faults.
 */
int ControllerPower::GetFaultCount6V() {
  int32_t status = 0;
  int retVal = HAL_GetUserCurrentFaults6V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the voltage of the 5V rail.
 *
 * @return The controller 5V rail voltage value in Volts
 */
double ControllerPower::GetVoltage5V() {
  int32_t status = 0;
  double retVal = HAL_GetUserVoltage5V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the current output of the 5V rail.
 *
 * @return The controller 5V rail output current value in Amps
 */
double ControllerPower::GetCurrent5V() {
  int32_t status = 0;
  double retVal = HAL_GetUserCurrent5V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the enabled state of the 5V rail. The rail may be disabled due to a
 * controller brownout, a short circuit on the rail, or controller over-voltage.
 *
 * @return The controller 5V rail enabled value. True for enabled.
 */
bool ControllerPower::GetEnabled5V() {
  int32_t status = 0;
  bool retVal = HAL_GetUserActive5V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the count of the total current faults on the 5V rail since the controller
 * has booted.
 *
 * @return The number of faults
 */
int ControllerPower::GetFaultCount5V() {
  int32_t status = 0;
  int retVal = HAL_GetUserCurrentFaults5V(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the voltage of the 3.3V rail.
 *
 * @return The controller 3.3V rail voltage value in Volts
 */
double ControllerPower::GetVoltage3V3() {
  int32_t status = 0;
  double retVal = HAL_GetUserVoltage3V3(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the current output of the 3.3V rail.
 *
 * @return The controller 3.3V rail output current value in Amps
 */
double ControllerPower::GetCurrent3V3() {
  int32_t status = 0;
  double retVal = HAL_GetUserCurrent3V3(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the enabled state of the 3.3V rail. The rail may be disabled due to a
 * controller brownout, a short circuit on the rail, or controller over-voltage.
 *
 * @return The controller 3.3V rail enabled value. True for enabled.
 */
bool ControllerPower::GetEnabled3V3() {
  int32_t status = 0;
  bool retVal = HAL_GetUserActive3V3(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}

/**
 * Get the count of the total current faults on the 3.3V rail since the
 * controller has booted.
 *
 * @return The number of faults
 */
int ControllerPower::GetFaultCount3V3() {
  int32_t status = 0;
  int retVal = HAL_GetUserCurrentFaults3V3(&status);
  wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
  return retVal;
}