Show battery voltage (fixes #125)

acmerobotics · Nov 5, 2023 · dc7f2ab · dc7f2ab
1 parent a1fc0b6
commit dc7f2ab
Show file tree

Hide file tree

Showing 6 changed files with 25 additions and 5 deletions.
diff --git a/DashboardCore/src/main/java/com/acmerobotics/dashboard/RobotStatus.java b/DashboardCore/src/main/java/com/acmerobotics/dashboard/RobotStatus.java
@@ -20,18 +20,20 @@ public enum OpModeStatus {
     private OpModeStatus activeOpModeStatus;
     private String warningMessage;
     private String errorMessage;
+    private double batteryVoltage;
 
     /**
      * Creates a status object with the default values.
      */
     public RobotStatus(boolean enabled, boolean available, String activeOpMode,
                        OpModeStatus activeOpModeStatus, String warningMessage,
-                       String errorMessage) {
+                       String errorMessage, double batteryVoltage) {
         this.enabled = enabled;
         this.available = available;
         this.activeOpMode = activeOpMode;
         this.activeOpModeStatus = activeOpModeStatus;
         this.warningMessage = warningMessage;
         this.errorMessage = errorMessage;
+        this.batteryVoltage = batteryVoltage;
     }
 }
diff --git a/DashboardCore/src/test/java/com/acmerobotics/dashboard/TestDashboardInstance.java b/DashboardCore/src/test/java/com/acmerobotics/dashboard/TestDashboardInstance.java
@@ -96,7 +96,7 @@ protected void onMessage(NanoWSD.WebSocketFrame message) {
                     }
 
                     send(new ReceiveRobotStatus(
-                        new RobotStatus(core.enabled, true, opModeName, opModeStatus, "", "")
+                        new RobotStatus(core.enabled, true, opModeName, opModeStatus, "", "", 12.0)
                     ));
                     break;
                 }

diff --git a/FtcDashboard/dash/src/components/Dashboard/Dashboard.tsx b/FtcDashboard/dash/src/components/Dashboard/Dashboard.tsx
@@ -18,6 +18,9 @@ export default function Dashboard() {
     (state: RootState) => state.settings.layoutPreset,
   );
   const enabled = useSelector((state: RootState) => state.status.enabled);
+  const batteryVoltage = useSelector(
+    (state: RootState) => state.status.batteryVoltage,
+  );
   const dispatch = useDispatch();
 
   const [isSettingsModalOpen, setIsSettingsModalOpen] = useState(false);
@@ -58,11 +61,12 @@ export default function Dashboard() {
             <p
               className="mx-2"
               style={{
-                width: '60px',
+                width: batteryVoltage > 0 ? '120px' : '60px',
                 textAlign: 'right',
               }}
             >
               {socket.pingTime}ms
+              {batteryVoltage > 0 ? ` / ${batteryVoltage.toFixed(2)}V` : ''}
             </p>
           )}
           {socket.isConnected ? (

diff --git a/FtcDashboard/dash/src/store/reducers/status.ts b/FtcDashboard/dash/src/store/reducers/status.ts
@@ -18,6 +18,7 @@ const initialState: StatusState = {
   errorMessage: '',
   opModeList: [],
   gamepadsSupported: true,
+  batteryVoltage: -1.0,
 };
 
 const statusReducer = (

diff --git a/FtcDashboard/dash/src/store/types/status.ts b/FtcDashboard/dash/src/store/types/status.ts
@@ -13,6 +13,7 @@ export type RobotStatus = {
   activeOpModeStatus: Values<typeof OpModeStatus>;
   warningMessage: string;
   errorMessage: string;
+  batteryVoltage: number;
 };
 
 export type StatusState = {
@@ -22,6 +23,7 @@ export type StatusState = {
   activeOpModeStatus: Values<typeof OpModeStatus>;
   warningMessage: string;
   errorMessage: string;
+  batteryVoltage: number;
   opModeList: string[];
   gamepadsSupported: boolean;
 };

diff --git a/FtcDashboard/src/main/java/com/acmerobotics/dashboard/FtcDashboard.java b/FtcDashboard/src/main/java/com/acmerobotics/dashboard/FtcDashboard.java
@@ -25,6 +25,7 @@
 import com.acmerobotics.dashboard.message.redux.ReceiveRobotStatus;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 import com.qualcomm.ftccommon.FtcEventLoop;
+import com.qualcomm.hardware.lynx.LynxModule;
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
@@ -59,6 +60,7 @@
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.robotcore.external.function.Consumer;
 import org.firstinspires.ftc.robotcore.external.function.Continuation;
+import org.firstinspires.ftc.robotcore.external.navigation.VoltageUnit;
 import org.firstinspires.ftc.robotcore.external.stream.CameraStreamSource;
 import org.firstinspires.ftc.robotcore.internal.opmode.OpModeMeta;
 import org.firstinspires.ftc.robotcore.internal.opmode.RegisteredOpModes;
@@ -1185,14 +1187,23 @@ private void updateGamepads(ReceiveGamepadState.Gamepad gamepad1,
     private RobotStatus getRobotStatus() {
         if (opModeManager == null) {
             return new RobotStatus(core.enabled, false, "", RobotStatus.OpModeStatus.STOPPED, "",
-                "");
+                "", -1.0);
         } else {
             return activeOpMode.with(o -> {
+                double batteryVoltage = -1.0;
+                if (o.opMode.hardwareMap != null) {
+                    for (LynxModule m : o.opMode.hardwareMap.getAll(LynxModule.class)) {
+                        batteryVoltage =
+                            Math.max(batteryVoltage, m.getInputVoltage(VoltageUnit.VOLTS));
+                    }
+                }
+
                 return new RobotStatus(
                     core.enabled, true, opModeManager.getActiveOpModeName(),
                     // status is an enum so it's okay to return a copy here.
                     o.status,
-                    RobotLog.getGlobalWarningMessage().message, RobotLog.getGlobalErrorMsg()
+                    RobotLog.getGlobalWarningMessage().message, RobotLog.getGlobalErrorMsg(),
+                    batteryVoltage
                 );
             });
         }