RobotController.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.system;
 
import static org.wpilib.units.Units.Amps;
import static org.wpilib.units.Units.Celsius;
import static org.wpilib.units.Units.Nanoseconds;
import static org.wpilib.units.Units.Volts;
 
import java.util.function.LongSupplier;
import org.wpilib.hardware.bus.CANPort;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.hardware.hal.PowerJNI;
import org.wpilib.hardware.hal.can.CANJNI;
import org.wpilib.hardware.hal.can.CANStatus;
import org.wpilib.units.measure.Current;
import org.wpilib.units.measure.Temperature;
import org.wpilib.units.measure.Time;
import org.wpilib.units.measure.Voltage;

public final class RobotController {
  private static LongSupplier m_timeSource = RobotController::getMonotonicTime;
 
  private RobotController() {
    throw new UnsupportedOperationException("This is a utility class!");
  }

  public static String getSerialNumber() {
    return HALUtil.getSerialNumber();
  }

  public static String getComments() {
    return HALUtil.getComments();
  }

  public static int getTeamNumber() {
    return HALUtil.getTeamNumber();
  }

  public static void setTimeSource(LongSupplier supplier) {
    m_timeSource = supplier;
  }

  public static long getTime() {
    return m_timeSource.getAsLong();
  }

  public static Time getMeasureTime() {
    return Nanoseconds.of(m_timeSource.getAsLong());
  }

  public static long getMonotonicTime() {
    return HALUtil.getMonotonicTime();
  }

  public static Time getMeasureMonotonicTime() {
    return Nanoseconds.of(HALUtil.getMonotonicTime());
  }

  public static double getBatteryVoltage() {
    return PowerJNI.getVinVoltage();
  }

  public static Voltage getMeasureBatteryVoltage() {
    return Volts.of(PowerJNI.getVinVoltage());
  }

  public static boolean isSysActive() {
    return HAL.getSystemActive();
  }

  public static boolean isBrownedOut() {
    return HAL.getBrownedOut();
  }

  public static int getCommsDisableCount() {
    return HAL.getCommsDisableCount();
  }

  public static boolean getRSLState() {
    return HAL.getRSLState();
  }

  public static boolean isSystemTimeValid() {
    return HAL.getSystemTimeValid();
  }

  public static double getInputVoltage() {
    return PowerJNI.getVinVoltage();
  }

  public static Voltage getMeasureInputVoltage() {
    return Volts.of(PowerJNI.getVinVoltage());
  }

  public static double getVoltage3V3() {
    return PowerJNI.getUserVoltage3V3();
  }

  public static Voltage getMeasureVoltage3V3() {
    return Volts.of(PowerJNI.getUserVoltage3V3());
  }

  public static double getCurrent3V3() {
    return PowerJNI.getUserCurrent3V3();
  }

  public static Current getMeasureCurrent3V3() {
    return Amps.of(PowerJNI.getUserCurrent3V3());
  }

  public static void setEnabled3V3(boolean enabled) {
    PowerJNI.setUserEnabled3V3(enabled);
  }

  public static boolean getEnabled3V3() {
    return PowerJNI.getUserActive3V3();
  }

  public static int getFaultCount3V3() {
    return PowerJNI.getUserCurrentFaults3V3();
  }

  public static void resetRailFaultCounts() {
    PowerJNI.resetUserCurrentFaults();
  }

  public static void setBrownoutVoltages(double brownoutVoltage, double recoveryVoltage) {
    PowerJNI.setBrownoutVoltages(brownoutVoltage, recoveryVoltage);
  }

  public static void setBrownoutVoltages(Voltage brownoutVoltage, Voltage recoveryVoltage) {
    PowerJNI.setBrownoutVoltages(
        brownoutVoltage.baseUnitMagnitude(), recoveryVoltage.baseUnitMagnitude());
  }

  public static double getCPUTemp() {
    return PowerJNI.getCPUTemp();
  }

  public static Temperature getMeasureCPUTemp() {
    return Celsius.of(PowerJNI.getCPUTemp());
  }

  public static CANStatus getCANStatus(CANPort busId) {
    CANStatus status = new CANStatus();
    CANJNI.getCANStatus(busId.value, status);
    return status;
  }
}