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Added callbacks for CAN (#757)

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Added callback scheme for a pass through to something higher
level.  Since the ID is embedded into the arbitration ID, and some
devices can use different schemes whether it is plugged in through a
device or put into the daisy chain (pigeonImu), I made one "internal
data object" for max reusability.
This commit is contained in:
PJ Reiniger
2017-11-22 19:48:32 -08:00
committed by Peter Johnson
parent 0431cf97ff
commit 12c4418bda
6 changed files with 523 additions and 29 deletions
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35
hal/src/main/native/sim/CAN.cpp
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@@ -7,22 +7,45 @@
#include "HAL/CAN.h"
#include "MockData/CanDataInternal.h"
using namespace hal;
CanData hal::SimCanData;
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {}
uint8_t dataSize, int32_t periodMs, int32_t* status) {
SimCanData.SendMessage(messageID, data, dataSize, periodMs, status);
}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* status) {}
uint32_t* timeStamp, int32_t* status) {
SimCanData.ReceiveMessage(messageID, messageIDMask, data, dataSize, timeStamp,
status);
}
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
int32_t* status) {}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {}
int32_t* status) {
SimCanData.OpenStreamSession(sessionHandle, messageID, messageIDMask,
maxMessages, status);
}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {
SimCanData.CloseStreamSession(sessionHandle);
}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {}
int32_t* status) {
SimCanData.ReadStreamSession(sessionHandle, messages, messagesToRead,
messagesRead, status);
}
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status) {}
uint32_t* transmitErrorCount, int32_t* status) {
SimCanData.GetCANStatus(percentBusUtilization, busOffCount, txFullCount,
receiveErrorCount, transmitErrorCount, status);
}
} // extern "C"