Add most of the missing RobotController functions

robotdotnet · Mar 19, 2024 · 0aaaa30 · 0aaaa30
1 parent a888532
commit 0aaaa30
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diff --git a/src/hal/Natives/HalPower.cs b/src/hal/Natives/HalPower.cs
@@ -75,4 +75,34 @@ public static partial class HalPower
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetVinVoltage")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetVinVoltage(out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_GetCPUTemp")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetCPUTemp(out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_GetBrownoutVoltage")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetBrownoutVoltage(out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_SetBrownoutVoltage")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetBrownoutVoltage(double voltage, out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_SetUserRailEnabled3V3")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetUserRailEnabled3V3([MarshalAs(UnmanagedType.I4)] bool enabled, out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_SetUserRailEnabled5V")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetUserRailEnabled5V([MarshalAs(UnmanagedType.I4)] bool enabled, out HalStatus status);
+
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
+    [LibraryImport("wpiHal", EntryPoint = "HAL_SetUserRailEnabled6V")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetUserRailEnabled6V([MarshalAs(UnmanagedType.I4)] bool enabled, out HalStatus status);
 }
diff --git a/src/wpilibsharp/CANStatus.cs b/src/wpilibsharp/CANStatus.cs
@@ -0,0 +1,3 @@
+namespace WPILib;
+
+public record struct CANStatus(double PercentBusUtilization, int BusOffCount, int TxFullCount, int ReceiveErrorCount, int TransmitErrorCount);
diff --git a/src/wpilibsharp/RobotController.cs b/src/wpilibsharp/RobotController.cs
@@ -1,7 +1,10 @@
 using UnitsNet;
 using UnitsNet.NumberExtensions.NumberToElectricCurrent;
 using UnitsNet.NumberExtensions.NumberToElectricPotential;
+using UnitsNet.NumberExtensions.NumberToTemperature;
+using WPIHal;
 using WPIHal.Natives;
+using WPIHal.Natives.Simulation;
 
 namespace WPILib;
 
@@ -21,4 +24,23 @@ public static class RobotController
     public static bool IsSystemTimeValid => HalBase.GetSystemTimeValid();
     public static ElectricPotential InputVoltage => BatteryVoltage;
     public static ElectricCurrent InputCurrent => HalPower.GetVinCurrent().Amperes();
+    public static ElectricPotential BrownoutVoltage
+    {
+        get => HalPower.GetBrownoutVoltage().Volts();
+        set => HalPower.SetBrownoutVoltage(value.Volts);
+    }
+    public static Temperature CPUTemp => HalPower.GetCPUTemp().DegreesCelsius();
+    public static RadioLEDState RadioLED
+    {
+        get => HalLEDs.GetRadioLEDState();
+        set => HalLEDs.SetRadioLEDState(value);
+    }
+    public static CANStatus CANStatus
+    {
+        get
+        {
+            HalCAN.GetCANStatus(out var percentBusUtilization, out var busOffCount, out var txFullCount, out var receiveErrorCount, out var transmitErrorCount);
+            return new CANStatus(percentBusUtilization, (int)busOffCount, (int)txFullCount, (int)receiveErrorCount, (int)transmitErrorCount);
+        }
+    }
 }