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Adds a HAL wrapper around the CAN API's (#623)

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Can someday be added to the simulator. Removes the last use case for the
ni headers directly.
This commit is contained in:
Thad House
2017-09-07 21:40:30 -07:00
committed by Peter Johnson
parent c572e6a307
commit 2249a8bac0
7 changed files with 148 additions and 20 deletions
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49
hal/src/main/native/athena/CAN.cpp Normal file
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@@ -0,0 +1,49 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/CAN.h"
#include <FRC_NetworkCommunication/CANSessionMux.h>
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_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) {
FRC_NetworkCommunication_CANSessionMux_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) {
FRC_NetworkCommunication_CANSessionMux_openStreamSession(
sessionHandle, messageID, messageIDMask, maxMessages, status);
}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {
FRC_NetworkCommunication_CANSessionMux_closeStreamSession(sessionHandle);
}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_readStreamSession(
sessionHandle, reinterpret_cast<tCANStreamMessage*>(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) {
FRC_NetworkCommunication_CANSessionMux_getCANStatus(
percentBusUtilization, busOffCount, txFullCount, receiveErrorCount,
transmitErrorCount, status);
}
}

11
hal/src/main/native/athena/HAL.cpp
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@@ -17,7 +17,6 @@
#include <mutex>
#include <thread>
#include <FRC_NetworkCommunication/CANSessionMux.h>
#include <FRC_NetworkCommunication/FRCComm.h>
#include <FRC_NetworkCommunication/LoadOut.h>
#include <llvm/raw_ostream.h>
@@ -130,15 +129,15 @@ const char* HAL_GetErrorMessage(int32_t code) {
return PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_COUNTER_NOT_SUPPORTED:
return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
case ERR_CANSessionMux_InvalidBuffer:
case HAL_ERR_CANSessionMux_InvalidBuffer:
return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
case ERR_CANSessionMux_MessageNotFound:
case HAL_ERR_CANSessionMux_MessageNotFound:
return ERR_CANSessionMux_MessageNotFound_MESSAGE;
case WARN_CANSessionMux_NoToken:
case HAL_WARN_CANSessionMux_NoToken:
return WARN_CANSessionMux_NoToken_MESSAGE;
case ERR_CANSessionMux_NotAllowed:
case HAL_ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
case ERR_CANSessionMux_NotInitialized:
case HAL_ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
case VI_ERROR_SYSTEM_ERROR:
return VI_ERROR_SYSTEM_ERROR_MESSAGE;

60
hal/src/main/native/include/HAL/CAN.h Normal file
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@@ -0,0 +1,60 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include "HAL/Types.h"
// These are copies of defines located in CANSessionMux.h prepended with HAL_
#define HAL_CAN_SEND_PERIOD_NO_REPEAT 0
#define HAL_CAN_SEND_PERIOD_STOP_REPEATING -1
/* Flags in the upper bits of the messageID */
#define HAL_CAN_IS_FRAME_REMOTE 0x80000000
#define HAL_CAN_IS_FRAME_11BIT 0x40000000
#define HAL_ERR_CANSessionMux_InvalidBuffer -44086
#define HAL_ERR_CANSessionMux_MessageNotFound -44087
#define HAL_WARN_CANSessionMux_NoToken 44087
#define HAL_ERR_CANSessionMux_NotAllowed -44088
#define HAL_ERR_CANSessionMux_NotInitialized -44089
#define HAL_ERR_CANSessionMux_SessionOverrun 44050
struct HAL_CANStreamMessage {
uint32_t messageID;
uint32_t timeStamp;
uint8_t data[8];
uint8_t dataSize;
};
#ifdef __cplusplus
extern "C" {
#endif
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status);
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* 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);
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status);
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status);
#ifdef __cplusplus
}
#endif

1
hal/src/main/native/include/HAL/HAL.h
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@@ -17,6 +17,7 @@
#include "HAL/AnalogInput.h"
#include "HAL/AnalogOutput.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/CAN.h"
#include "HAL/Compressor.h"
#include "HAL/Constants.h"
#include "HAL/Counter.h"

28
hal/src/main/native/sim/CAN.cpp Normal file
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/CAN.h"
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* 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) {}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {}
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status) {}
}

9
hal/src/main/native/sim/ErrorsInternal.h
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@@ -20,15 +20,6 @@ typedef enum {
// full.
} CTR_Code;
// CAN Errors
#define ERR_CANSessionMux_InvalidBuffer -44086
#define ERR_CANSessionMux_MessageNotFound -44087
#define WARN_CANSessionMux_NoToken 44087
#define ERR_CANSessionMux_NotAllowed -44088
#define ERR_CANSessionMux_NotInitialized -44089
#define ERR_CANSessionMux_SessionOverrun 44050
// VISA Error
#define _VI_ERROR (-2147483647L - 1)
#define VI_ERROR_SYSTEM_ERROR (_VI_ERROR + 0x3FFF0000L)

10
hal/src/main/native/sim/HAL.cpp
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@@ -102,15 +102,15 @@ const char* HAL_GetErrorMessage(int32_t code) {
return PARAMETER_OUT_OF_RANGE_MESSAGE;
case HAL_COUNTER_NOT_SUPPORTED:
return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
case ERR_CANSessionMux_InvalidBuffer:
case HAL_ERR_CANSessionMux_InvalidBuffer:
return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
case ERR_CANSessionMux_MessageNotFound:
case HAL_ERR_CANSessionMux_MessageNotFound:
return ERR_CANSessionMux_MessageNotFound_MESSAGE;
case WARN_CANSessionMux_NoToken:
case HAL_WARN_CANSessionMux_NoToken:
return WARN_CANSessionMux_NoToken_MESSAGE;
case ERR_CANSessionMux_NotAllowed:
case HAL_ERR_CANSessionMux_NotAllowed:
return ERR_CANSessionMux_NotAllowed_MESSAGE;
case ERR_CANSessionMux_NotInitialized:
case HAL_ERR_CANSessionMux_NotInitialized:
return ERR_CANSessionMux_NotInitialized_MESSAGE;
case VI_ERROR_SYSTEM_ERROR:
return VI_ERROR_SYSTEM_ERROR_MESSAGE;