[wpilibj] PowerDistribution Logger

hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java

@@ -4,12 +4,20 @@
 
 package edu.wpi.first.hal;
 
+import java.nio.ByteBuffer;
+
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
+
 /**
  * Faults for a PowerDistribution device. These faults are only active while the condition is
  * active.
  */
 @SuppressWarnings("MemberName")
-public class PowerDistributionFaults {
+public class PowerDistributionFaults implements StructSerializable {
+  /** The faults bitfield the object was constructed with */
+  public final int bitfield;
+
   /** Breaker fault on channel 0. */
   public final boolean Channel0BreakerFault;
 
@@ -136,6 +144,7 @@ public final boolean getBreakerFault(int channel) {
    * @param faults faults
    */
   public PowerDistributionFaults(int faults) {
+    bitfield = faults;
     Channel0BreakerFault = (faults & 0x1) != 0;
     Channel1BreakerFault = (faults & 0x2) != 0;
     Channel2BreakerFault = (faults & 0x4) != 0;
@@ -164,4 +173,69 @@ public PowerDistributionFaults(int faults) {
     CanWarning = (faults & 0x2000000) != 0;
     HardwareFault = (faults & 0x4000000) != 0;
   }
+
+  public static final PowerDistributionFaultsStruct struct = new PowerDistributionFaultsStruct();
+
+  public static final class PowerDistributionFaultsStruct implements Struct<PowerDistributionFaults> {
+    @Override
+    public Class<PowerDistributionFaults> getTypeClass() {
+      return PowerDistributionFaults.class;
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeInt32;
+    }
+
+    @Override
+    public String getSchema() {
+      return "bool channel0BreakerFault:1; "
+          + "bool channel1BreakerFault:1; "
+          + "bool channel2BreakerFault:1; "
+          + "bool channel3BreakerFault:1; "
+          + "bool channel4BreakerFault:1; "
+          + "bool channel5BreakerFault:1; "
+          + "bool channel6BreakerFault:1; "
+          + "bool channel7BreakerFault:1; "
+          + "bool channel8BreakerFault:1; "
+          + "bool channel9BreakerFault:1; "
+          + "bool channel10BreakerFault:1; "
+          + "bool channel11BreakerFault:1; "
+          + "bool channel12BreakerFault:1; "
+          + "bool channel13BreakerFault:1; "
+          + "bool channel14BreakerFault:1; "
+          + "bool channel15BreakerFault:1; "
+          + "bool channel16BreakerFault:1; "
+          + "bool channel17BreakerFault:1; "
+          + "bool channel18BreakerFault:1; "
+          + "bool channel19BreakerFault:1; "
+          + "bool channel20BreakerFault:1; "
+          + "bool channel21BreakerFault:1; "
+          + "bool channel22BreakerFault:1; "
+          + "bool channel23BreakerFault:1; "
+          + "bool brownout:1; "
+          + "bool canWarning:1; "
+          + "bool hardwareFault:1;";
+    }
+
+    @Override
+    public String getTypeName() {
+      return "PowerDistributionFaults";
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, PowerDistributionFaults value) {
+      bb.putInt(value.bitfield);
+    }
+
+    public void pack(ByteBuffer bb, int value) {
+      bb.putInt(value);
+    }
+
+    @Override
+    public PowerDistributionFaults unpack(ByteBuffer bb) {
+      int packed = bb.getInt();
+      return new PowerDistributionFaults(packed);
+    }
+  }
 }

hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java

@@ -4,12 +4,20 @@
 
 package edu.wpi.first.hal;
 
+import java.nio.ByteBuffer;
+
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
+
 /**
  * Sticky faults for a PowerDistribution device. These faults will remain active until they are
  * reset by the user.
  */
 @SuppressWarnings("MemberName")
-public class PowerDistributionStickyFaults {
+public class PowerDistributionStickyFaults implements StructSerializable {
+  /** The faults bitfield the object was constructed with */
+  public final int bitfield;
+
   /** Breaker fault on channel 0. */
   public final boolean Channel0BreakerFault;
 
@@ -145,6 +153,7 @@ public final boolean getBreakerFault(int channel) {
    * @param faults faults
    */
   public PowerDistributionStickyFaults(int faults) {
+    bitfield = faults;
     Channel0BreakerFault = (faults & 0x1) != 0;
     Channel1BreakerFault = (faults & 0x2) != 0;
     Channel2BreakerFault = (faults & 0x4) != 0;
@@ -176,4 +185,70 @@ public PowerDistributionStickyFaults(int faults) {
     FirmwareFault = (faults & 0x10000000) != 0;
     HasReset = (faults & 0x20000000) != 0;
   }
+
+  public static final PowerDistributionStickyFaultsStruct struct = new PowerDistributionStickyFaultsStruct();
+
+  public static final class PowerDistributionStickyFaultsStruct implements Struct<PowerDistributionStickyFaults> {
+    @Override
+    public Class<PowerDistributionStickyFaults> getTypeClass() {
+      return PowerDistributionStickyFaults.class;
+    }
+
+    @Override
+    public int getSize() {
+      return 4; //doing bitfields on a u32
+    }
+
+    @Override
+    public String getSchema() {
+      return "bool channel0BreakerFault:1; "
+          + "bool channel1BreakerFault:1; "
+          + "bool channel2BreakerFault:1; "
+          + "bool channel3BreakerFault:1; "
+          + "bool channel4BreakerFault:1; "
+          + "bool channel5BreakerFault:1; "
+          + "bool channel6BreakerFault:1; "
+          + "bool channel7BreakerFault:1; "
+          + "bool channel8BreakerFault:1; "
+          + "bool channel9BreakerFault:1; "
+          + "bool channel10BreakerFault:1; "
+          + "bool channel11BreakerFault:1; "
+          + "bool channel12BreakerFault:1; "
+          + "bool channel13BreakerFault:1; "
+          + "bool channel14BreakerFault:1; "
+          + "bool channel15BreakerFault:1; "
+          + "bool channel16BreakerFault:1; "
+          + "bool channel17BreakerFault:1; "
+          + "bool channel18BreakerFault:1; "
+          + "bool channel19BreakerFault:1; "
+          + "bool channel20BreakerFault:1; "
+          + "bool channel21BreakerFault:1; "
+          + "bool channel22BreakerFault:1; "
+          + "bool channel23BreakerFault:1; "
+          + "bool brownout:1; "
+          + "bool canWarning:1; "
+          + "bool canBusOff:1; "
+          + "bool hasReset:1;";
+    }
+
+    @Override
+    public String getTypeName() {
+      return "PowerDistributionStickyFaults";
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, PowerDistributionStickyFaults value) {
+      bb.putInt(value.bitfield);
+    }
+
+    public void pack(ByteBuffer bb, int value) {
+      bb.putInt(value);
+    }
+
+    @Override
+    public PowerDistributionStickyFaults unpack(ByteBuffer bb) {
+      int packed = bb.getInt();
+      return new PowerDistributionStickyFaults(packed);
+    }
+  }
 }

hal/src/main/java/edu/wpi/first/hal/PowerDistributionVersion.java

@@ -4,9 +4,14 @@
 
 package edu.wpi.first.hal;
 
+import java.nio.ByteBuffer;
+
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
+
 /** Power distribution version. */
 @SuppressWarnings("MemberName")
-public class PowerDistributionVersion {
+public class PowerDistributionVersion implements StructSerializable {
   /** Firmware major version number. */
   public final int firmwareMajor;
 
@@ -49,4 +54,56 @@ public PowerDistributionVersion(
     this.hardwareMajor = hardwareMajor;
     this.uniqueId = uniqueId;
   }
+
+  public static final PowerDistributionVersionStruct struct = new PowerDistributionVersionStruct();
+
+  public static final class PowerDistributionVersionStruct implements Struct<PowerDistributionVersion> {
+    @Override
+    public Class<PowerDistributionVersion> getTypeClass() {
+      return PowerDistributionVersion.class;
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeInt32;
+    }
+
+    @Override
+    public String getSchema() {
+      return "int8 firmwareMajor; "
+          + "int8 firmwareMinor; "
+          + "int8 firmwareFix; "
+          + "int8 hardwareMinor; "
+          + "int8 hardwareMajor; "
+          + "int32 uniqueId;";
+    }
+
+    @Override
+    public String getTypeName() {
+      return "PowerDistributionVersion";
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, PowerDistributionVersion value) {
+      bb.put((byte) value.firmwareMajor);
+      bb.put((byte) value.firmwareMinor);
+      bb.put((byte) value.firmwareFix);
+      bb.put((byte) value.hardwareMinor);
+      bb.put((byte) value.hardwareMajor);
+      bb.putLong(value.uniqueId);
+    }
+
+    @Override
+    public PowerDistributionVersion unpack(ByteBuffer bb) {
+      return new PowerDistributionVersion(
+        bb.get(),
+        bb.get(),
+        bb.get(),
+        bb.get(),
+        bb.get(),
+        bb.getInt()
+      );
+    }
+  }
+
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java

@@ -241,6 +241,26 @@ public PowerDistributionStickyFaults getStickyFaults() {
     return PowerDistributionJNI.getStickyFaults(m_handle);
   }
 
+  /**
+   * Used internally to get the handle for the PDP.
+   *
+   * @return The handle for the PDP
+   */
+  public int getHandle() {
+    return m_handle;
+  }
+
+  /**
+   * Creates a new {@link PowerDistributionLogger} for this instance.
+   *
+   * @param logPath The path to log the data to
+   * @param datalogOnly If true, only log to the datalog
+   * @return The new {@link PowerDistributionLogger}
+   */
+  public PowerDistributionLogger createLogger(String logPath, boolean datalogOnly) {
+    return new PowerDistributionLogger(this, logPath, datalogOnly);
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("PowerDistribution");