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This commit is contained in:
Michael Mikovsky
2024-12-03 17:53:38 -07:00
parent 998aa7a689
commit b7c16b5ca4
3 changed files with 20 additions and 165 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
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@@ -24,6 +24,8 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final String CANBUS_NAME = "rio";
public static final class SwerveDriveConstants {
public static final double MAX_ROT_SPEED = 3.5;
@@ -33,8 +35,6 @@ public final class Constants {
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
public static final String CANBUS_NAME = "IDK";
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;
src/main/java/frc4388/robot/Robot.java
+18 -2
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@@ -12,6 +12,9 @@ import java.util.Base64;
import java.util.List;
import java.util.logging.Level;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.CANBus.CANBusStatus;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,7 +23,6 @@ import frc4388.utility.DeferredBlock;
import frc4388.utility.RobotTime;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.DeviceFinder;
import frc4388.utility.Status.Report;
import frc4388.utility.Status.ReportLevel;
//import frc4388.robot.subsystems.LED;
@@ -162,6 +164,20 @@ public class Robot extends TimedRobot {
// CAN header
System.out.println(new String(Base64.getDecoder().decode("IOKWl+KWhOKWhOKWliDilpfiloTilpYg4paX4paWICDilpfilpYK4paQ4paMICAg4paQ4paMIOKWkOKWjOKWkOKWm+KWmuKWluKWkOKWjArilpDilowgICDilpDilpviloDilpzilozilpDilowg4pad4pac4paMCuKWneKWmuKWhOKWhOKWluKWkOKWjCDilpDilozilpDilowgIOKWkOKWjCh0KQ==")));
CANBusStatus canInfo = CANBus.getStatus(Constants.CANBUS_NAME);
System.out.println("CANInfo BusOffCount - " + canInfo.BusOffCount);
System.out.println("CANInfo BusUtilization - " + canInfo.BusUtilization);
System.out.println("CANInfo RX Errors count - " + canInfo.REC);
System.out.println("CANInfo TX Errors count - " + canInfo.TEC);
System.out.println("CANInfo Transmit buffer full count - " + canInfo.TxFullCount);
// Broken turniary operator
ReportLevel canReportLevel = canInfo.Status.isOK() ? (canInfo.Status.isWarning() ? ReportLevel.WARNING : ReportLevel.ERROR) : ReportLevel.INFO;
String canStatus = "CAN " + canReportLevel.name() + " - " + canInfo.Status.getName() + " (" + canInfo.Status.getDescription() + ")";
if(canReportLevel == ReportLevel.ERROR) {
errors.add(canStatus);
}
System.out.println(canStatus);
for(int i=0;i<CanDevice.devices.size();i++){
@@ -177,7 +193,7 @@ public class Robot extends TimedRobot {
}
}
System.out.println("Found CAN devices: " + new DeviceFinder().Find());
// System.out.println("Found CAN devices: " + new DeviceFinder().Find());
if(errors.size() > 0) {
// Errors header
src/main/java/frc4388/utility/DeviceFinder.java
-161
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@@ -1,161 +0,0 @@
package frc4388.utility;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.ArrayList;
import java.util.List;
import java.util.Set;
import java.util.TreeSet;
import edu.wpi.first.hal.can.CANJNI;
// https://github.com/FRC3620/FRC3620_2018_CoffeePi/blob/6ab2776ce0ee83cf8e127a7c50337ff17f01b249/FRC3620_2018_CoffeePi/src/org/usfirst/frc3620/misc/CANDeviceFinder.java#
public class DeviceFinder {
ArrayList<String> deviceList = new ArrayList<String>();
public ArrayList<String> Find() {
return deviceList;
}
private boolean pdpIsPresent = false;
private Set<Integer> srxs = new TreeSet<>();
private Set<Integer> spxs = new TreeSet<>();
private Set<Integer> pcms = new TreeSet<>();
public DeviceFinder() {
super();
find();
}
public boolean isPDPPresent() {
return pdpIsPresent;
}
public boolean isSRXPresent(int i) {
return srxs.contains(i);
}
public boolean isSPXPresent(int i) {
return spxs.contains(i);
}
public boolean isPCMPresent(int i) {
return pcms.contains(i);
}
public boolean isDevicePresent(String s) {
return deviceList.contains(s);
}
/**
*
* @return ArrayList of strings holding the names of devices we've found.
*/
public List<String> getDeviceList() {
return deviceList;
}
/**
* polls for received framing to determine if a device is present. This is
* meant to be used once initially (and not periodically) since this steals
* cached messages from the robot API.
*/
void find() {
deviceList.clear();
pdpIsPresent = false;
srxs.clear();
pcms.clear();
/* get timestamp0 for each device */
long pdp0_timeStamp0; // only look for PDP at '0'
long[] pcm_timeStamp0 = new long[63];
long[] srx_timeStamp0 = new long[63];
long[] spx_timeStamp0 = new long[63];
pdp0_timeStamp0 = checkMessage(0x08041400, 0);
for (int i = 0; i < 63; ++i) {
pcm_timeStamp0[i] = checkMessage(0x09041400, i);
srx_timeStamp0[i] = checkMessage(0x02041400, i);
spx_timeStamp0[i] = checkMessage(0x01041400, i);
}
/* wait 200ms */
try {
Thread.sleep(200);
} catch (InterruptedException e) {
e.printStackTrace();
}
/* get timestamp1 for each device */
long pdp0_timeStamp1; // only look for PDP at '0'
long[] pcm_timeStamp1 = new long[63];
long[] srx_timeStamp1 = new long[63];
long[] spx_timeStamp1 = new long[63];
pdp0_timeStamp1 = checkMessage(0x08041400, 0);
for (int i = 0; i < 63; ++i) {
pcm_timeStamp1[i] = checkMessage(0x09041400, i);
srx_timeStamp1[i] = checkMessage(0x02041400, i);
spx_timeStamp1[i] = checkMessage(0x01041400, i);
}
/*
* compare, if timestamp0 is good and timestamp1 is good, and they are
* different, device is healthy
*/
if (pdp0_timeStamp0 >= 0 && pdp0_timeStamp1 >= 0
&& pdp0_timeStamp0 != pdp0_timeStamp1) {
deviceList.add("PDP 0");
pdpIsPresent = true;
}
for (int i = 0; i < 63; ++i) {
if (pcm_timeStamp0[i] >= 0 && pcm_timeStamp1[i] >= 0
&& pcm_timeStamp0[i] != pcm_timeStamp1[i]) {
deviceList.add("PCM " + i);
pcms.add(i);
}
}
for (int i = 0; i < 63; ++i) {
if (srx_timeStamp0[i] >= 0 && srx_timeStamp1[i] >= 0
&& srx_timeStamp0[i] != srx_timeStamp1[i]) {
deviceList.add("SRX " + i);
srxs.add(i);
}
}
for (int i = 0; i < 63; ++i) {
if (spx_timeStamp0[i] >= 0 && spx_timeStamp1[i] >= 0
&& spx_timeStamp0[i] != spx_timeStamp1[i]) {
deviceList.add("SPX " + i);
spxs.add(i);
}
}
}
private ByteBuffer targetID = ByteBuffer.allocateDirect(4);
private ByteBuffer timeStamp = ByteBuffer.allocateDirect(4);
/** helper routine to get last received message for a given ID */
private long checkMessage(int fullId, int deviceID) {
try {
targetID.clear();
targetID.order(ByteOrder.LITTLE_ENDIAN);
targetID.asIntBuffer().put(0, fullId | deviceID);
timeStamp.clear();
timeStamp.order(ByteOrder.LITTLE_ENDIAN);
timeStamp.asIntBuffer().put(0, 0x00000000);
CANJNI.FRCNetCommCANSessionMuxReceiveMessage(
targetID.asIntBuffer(), 0x1fffffff, timeStamp);
long retval = timeStamp.getInt();
retval &= 0xFFFFFFFF; /* undo sign-extension */
return retval;
} catch (Exception e) {
return -1;
}
}
}