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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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27
hal/src/main/native/systemcore/CAN.cpp
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@@ -88,18 +88,21 @@ struct SocketCanState {
wpi::util::mutex writeMutex[wpi::hal::kNumCanBuses];
int socketHandle[wpi::hal::kNumCanBuses];
// ms to count/timer map
wpi::util::DenseMap<uint16_t, std::pair<size_t, std::weak_ptr<wpi::net::uv::Timer>>>
wpi::util::DenseMap<uint16_t,
std::pair<size_t, std::weak_ptr<wpi::net::uv::Timer>>>
timers;
// ms to bus mask/packet
wpi::util::DenseMap<uint16_t,
std::array<std::optional<canfd_frame>, wpi::hal::kNumCanBuses>>
wpi::util::DenseMap<
uint16_t, std::array<std::optional<canfd_frame>, wpi::hal::kNumCanBuses>>
timedFrames;
// packet to time
wpi::util::DenseMap<uint32_t, std::array<uint16_t, wpi::hal::kNumCanBuses>> packetToTime;
wpi::util::DenseMap<uint32_t, std::array<uint16_t, wpi::hal::kNumCanBuses>>
packetToTime;
wpi::util::mutex readMutex[wpi::hal::kNumCanBuses];
// TODO(thadhouse) we need a MUCH better way of doing this masking
wpi::util::DenseMap<uint32_t, HAL_CANStreamMessage> readFrames[wpi::hal::kNumCanBuses];
wpi::util::DenseMap<uint32_t, HAL_CANStreamMessage>
readFrames[wpi::hal::kNumCanBuses];
std::vector<CANStreamStorage*> canStreams[wpi::hal::kNumCanBuses];
bool InitializeBuses();
@@ -157,7 +160,7 @@ bool SocketCanState::InitializeBuses() {
socketHandle[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (socketHandle[i] == -1) {
wpi::util::print("socket() for CAN {} failed with {}\n", i,
std::strerror(errno));
std::strerror(errno));
success = false;
return;
}
@@ -167,7 +170,7 @@ bool SocketCanState::InitializeBuses() {
if (ioctl(socketHandle[i], SIOCGIFINDEX, &ifr) == -1) {
wpi::util::print("ioctl(SIOCGIFINDEX) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
ifr.ifr_name, std::strerror(errno));
success = false;
return;
}
@@ -180,14 +183,14 @@ bool SocketCanState::InitializeBuses() {
if (bind(socketHandle[i], reinterpret_cast<const sockaddr*>(&addr),
sizeof(addr)) == -1) {
wpi::util::print("bind() for CAN {} failed with {}\n", ifr.ifr_name,
std::strerror(errno));
std::strerror(errno));
success = false;
return;
}
if (ioctl(socketHandle[i], SIOCGIFMTU, &ifr) == -1) {
wpi::util::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
ifr.ifr_name, std::strerror(errno));
success = false;
return;
}
@@ -206,7 +209,8 @@ bool SocketCanState::InitializeBuses() {
auto poll = wpi::net::uv::Poll::Create(loop, socketHandle[i]);
if (!poll) {
wpi::util::print("wpi::net::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);
wpi::util::print("wpi::net::uv::Poll::Create for CAN {} failed\n",
ifr.ifr_name);
success = false;
return;
}
@@ -309,7 +313,8 @@ void SocketCanState::AddPeriodic(wpi::net::uv::Loop& loop, uint8_t busId,
if (timer.first == 1) {
auto newTimer = wpi::net::uv::Timer::Create(loop);
newTimer->timeout.connect([this, time] { TimerCallback(time); });
newTimer->Start(wpi::net::uv::Timer::Time{time}, wpi::net::uv::Timer::Time{time});
newTimer->Start(wpi::net::uv::Timer::Time{time},
wpi::net::uv::Timer::Time{time});
}
}