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

Can someday be added to the simulator. Removes the last use case for the
ni headers directly.

hal/src/main/native/include/HAL/CAN.h

@@ -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

hal/src/main/native/include/HAL/HAL.h

@@ -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"