mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
1.8 KiB
C
58 lines
1.8 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <HAL/CANAPI.h>
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#include <wpi/ArrayRef.h>
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#include "ErrorBase.h"
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namespace frc {
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struct CANData {
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uint8_t data[8];
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int32_t length;
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uint64_t timestamp;
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};
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/**
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* High level class for interfacing with CAN devices conforming to
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* the standard CAN spec.
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*
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* No packets that can be sent gets blocked by the RoboRIO, so all methods
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* work identically in all robot modes.
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*
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* All methods are thread save, however the buffer objects passed in
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* by the user need to not be modified for the duration of their calls.
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*/
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class CAN : public ErrorBase {
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public:
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explicit CAN(int deviceId);
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~CAN() override;
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void WritePacket(const uint8_t* data, int length, int apiId);
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void WritePacketRepeating(const uint8_t* data, int length, int apiId,
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int repeatMs);
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void StopPacketRepeating(int apiId);
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bool ReadPacketNew(int apiId, CANData* data);
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bool ReadPacketLatest(int apiId, CANData* data);
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bool ReadPacketTimeout(int apiId, int timeoutMs, CANData* data);
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bool ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
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CANData* data);
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static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
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static constexpr HAL_CANDeviceType kTeamDeviceType =
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HAL_CAN_Dev_kMiscellaneous;
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private:
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HAL_CANHandle m_handle{HAL_kInvalidHandle};
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};
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} // namespace frc
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