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[hal,wpilib] Switch CANBusMap to Enum, use it for CAN API (#8977)

Browse Source 
Will make it easier to solve
https://github.com/wpilibsuite/SystemcoreTesting/issues/286
This commit is contained in:
Thad House
2026-06-11 16:14:40 -07:00
committed by GitHub
parent 97381549e6
commit 489b993e60
13 changed files with 165 additions and 94 deletions
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37
hal/src/main/java/org/wpilib/hardware/hal/CANBusMap.java
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@@ -1,37 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.hardware.hal;
public final class CANBusMap {
public static final int CAN_S0 = 0;
public static final int CAN_S1 = 1;
public static final int CAN_S2 = 2;
public static final int CAN_S3 = 3;
public static final int CAN_S4 = 4;
public static final int CAN_D0 = 5;
public static final int CAN_D1 = 6;
public static final int CAN_D2 = 7;
public static final int CAN_D3 = 8;
public static final int CAN_D4 = 9;
public static final int CAN_D5 = 10;
public static final int CAN_D6 = 11;
public static final int CAN_D7 = 12;
public static final int CAN_D8 = 13;
public static final int CAN_D9 = 14;
public static final int CAN_D10 = 15;
public static final int CAN_D11 = 16;
public static final int CAN_D12 = 17;
public static final int CAN_D13 = 18;
public static final int CAN_D14 = 19;
public static final int CAN_D15 = 20;
public static final int CAN_D16 = 21;
public static final int CAN_D17 = 22;
public static final int CAN_D18 = 23;
public static final int CAN_D19 = 24;
private CANBusMap() {
throw new UnsupportedOperationException("This is a utility class!");
}
}

45
hal/src/main/native/include/wpi/hal/CANBusMap.h
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@@ -1,45 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#include "wpi/hal/Types.h"
/**
* @defgroup hal_canapi CAN BUS Mapping Enums
* @ingroup hal_capi
* @{
*/
HAL_ENUM(HAL_CANBusMap) {
HAL_CAN_BUS_S0 = 0,
HAL_CAN_BUS_S1 = 1,
HAL_CAN_BUS_S2 = 2,
HAL_CAN_BUS_S3 = 3,
HAL_CAN_BUS_S4 = 4,
HAL_CAN_BUS_D0 = 5,
HAL_CAN_BUS_D1 = 6,
HAL_CAN_BUS_D2 = 7,
HAL_CAN_BUS_D3 = 8,
HAL_CAN_BUS_D4 = 9,
HAL_CAN_BUS_D5 = 10,
HAL_CAN_BUS_D6 = 11,
HAL_CAN_BUS_D7 = 12,
HAL_CAN_BUS_D8 = 13,
HAL_CAN_BUS_D9 = 14,
HAL_CAN_BUS_D10 = 15,
HAL_CAN_BUS_D11 = 16,
HAL_CAN_BUS_D12 = 17,
HAL_CAN_BUS_D13 = 18,
HAL_CAN_BUS_D14 = 19,
HAL_CAN_BUS_D15 = 20,
HAL_CAN_BUS_D16 = 21,
HAL_CAN_BUS_D17 = 22,
HAL_CAN_BUS_D18 = 23,
HAL_CAN_BUS_D19 = 24,
};
/** @} */

5
hal/src/test/native/cpp/can/CANTest.cpp
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@@ -8,10 +8,11 @@
#include <gtest/gtest.h>
#include "wpi/hal/CANAPI.h"
#include "wpi/hal/CANBusMap.h"
#include "wpi/hal/simulation/CanData.h"
namespace wpi::hal {
static constexpr int32_t kCANBusS0 = 0;
struct CANTestStore {
CANTestStore(int32_t busId, int32_t deviceId, int32_t* status) {
this->deviceId = deviceId;
@@ -45,7 +46,7 @@ struct CANSendCallbackStore {
TEST(CANTest, CanIdPacking) {
int32_t status = 0;
int32_t deviceId = 12;
CANTestStore testStore(HAL_CAN_BUS_S0, deviceId, &status);
CANTestStore testStore(kCANBusS0, deviceId, &status);
ASSERT_EQ(0, status);
std::pair<int32_t, bool> storePair;

8
wpilibc/robotpy_pybind_build_info.bzl generated
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@@ -414,6 +414,14 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::CAN", "wpi__CAN.hpp"),
],
),
struct(
class_name = "CANBusMap",
yml_file = "semiwrap/CANBusMap.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/hardware/bus/CANBusMap.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "I2C",
yml_file = "semiwrap/I2C.yml",

8
wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
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@@ -12,13 +12,15 @@
using namespace wpi;
CAN::CAN(int busId, int deviceId)
CAN::CAN(CANBusMap busId, int deviceId)
: CAN{busId, deviceId, TEAM_MANUFACTURER, TEAM_DEVICE_TYPE} {}
CAN::CAN(int busId, int deviceId, int deviceManufacturer, int deviceType) {
CAN::CAN(CANBusMap busId, int deviceId, int deviceManufacturer,
int deviceType) {
int32_t status = 0;
m_handle = HAL_InitializeCAN(
busId, static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
static_cast<int>(busId),
static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
static_cast<HAL_CANDeviceType>(deviceType), &status);
WPILIB_CheckErrorStatus(status, "device id {} mfg {} type {}", deviceId,
deviceManufacturer, deviceType);

5
wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp
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@@ -7,6 +7,7 @@
#include <stdint.h>
#include "wpi/hal/CANAPI.h"
#include "wpi/hardware/bus/CANBusMap.hpp"
#include "wpi/util/Handle.hpp"
namespace wpi {
@@ -31,7 +32,7 @@ class CAN {
* @param busId The bus id
* @param deviceId The device id
*/
CAN(int busId, int deviceId);
CAN(CANBusMap busId, int deviceId);
/**
* Create a new CAN communication interface with a specific device ID,
@@ -43,7 +44,7 @@ class CAN {
* @param deviceManufacturer The device manufacturer
* @param deviceType The device type
*/
CAN(int busId, int deviceId, int deviceManufacturer, int deviceType);
CAN(CANBusMap busId, int deviceId, int deviceManufacturer, int deviceType);
CAN(CAN&&) = default;
CAN& operator=(CAN&&) = default;

66
wpilibc/src/main/native/include/wpi/hardware/bus/CANBusMap.hpp Normal file
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@@ -0,0 +1,66 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
namespace wpi {
/**
* CAN bus mapping.
*
* S0-S4 are Systemcore CAN buses. D0-D19 are Motioncore CAN buses.
*/
enum class CANBusMap {
/// CAN bus S0.
CAN_S0 = 0,
/// CAN bus S1.
CAN_S1 = 1,
/// CAN bus S2.
CAN_S2 = 2,
/// CAN bus S3.
CAN_S3 = 3,
/// CAN bus S4.
CAN_S4 = 4,
/// CAN bus D0.
CAN_D0 = 5,
/// CAN bus D1.
CAN_D1 = 6,
/// CAN bus D2.
CAN_D2 = 7,
/// CAN bus D3.
CAN_D3 = 8,
/// CAN bus D4.
CAN_D4 = 9,
/// CAN bus D5.
CAN_D5 = 10,
/// CAN bus D6.
CAN_D6 = 11,
/// CAN bus D7.
CAN_D7 = 12,
/// CAN bus D8.
CAN_D8 = 13,
/// CAN bus D9.
CAN_D9 = 14,
/// CAN bus D10.
CAN_D10 = 15,
/// CAN bus D11.
CAN_D11 = 16,
/// CAN bus D12.
CAN_D12 = 17,
/// CAN bus D13.
CAN_D13 = 18,
/// CAN bus D14.
CAN_D14 = 19,
/// CAN bus D15.
CAN_D15 = 20,
/// CAN bus D16.
CAN_D16 = 21,
/// CAN bus D17.
CAN_D17 = 22,
/// CAN bus D18.
CAN_D18 = 23,
/// CAN bus D19.
CAN_D19 = 24,
};
} // namespace wpi

1
wpilibc/src/main/python/pyproject.toml
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@@ -146,6 +146,7 @@ AnalogAccelerometer = "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
# wpi/hardware/bus
CAN = "wpi/hardware/bus/CAN.hpp"
CANBusMap = "wpi/hardware/bus/CANBusMap.hpp"
I2C = "wpi/hardware/bus/I2C.hpp"
SerialPort = "wpi/hardware/bus/SerialPort.hpp"

4
wpilibc/src/main/python/semiwrap/CAN.yml
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@@ -6,8 +6,8 @@ classes:
methods:
CAN:
overloads:
int, int:
int, int, int, int:
CANBusMap, int:
CANBusMap, int, int, int:
WritePacket:
WritePacketNoError:
WritePacketRepeating:

2
wpilibc/src/main/python/semiwrap/CANBusMap.yml Normal file
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@@ -0,0 +1,2 @@
enums:
CANBusMap:

2
wpilibc/src/main/python/wpilib/__init__.py
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@@ -13,6 +13,7 @@ from ._wpilib import (
AnalogPotentiometer,
BooleanEvent,
CAN,
CANBusMap,
CANStatus,
Compressor,
CompressorConfigType,
@@ -129,6 +130,7 @@ __all__ = [
"AnalogPotentiometer",
"BooleanEvent",
"CAN",
"CANBusMap",
"CANStatus",
"Compressor",
"CompressorConfigType",

6
wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java
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@@ -36,7 +36,7 @@ public class CAN implements Closeable {
* @param busId The bus ID
* @param deviceId The device id
*/
public CAN(int busId, int deviceId) {
public CAN(CANBusMap busId, int deviceId) {
this(busId, deviceId, TEAM_MANUFACTURER, TEAM_DEVICE_TYPE);
}
@@ -49,8 +49,8 @@ public class CAN implements Closeable {
* @param deviceManufacturer The device manufacturer
* @param deviceType The device type
*/
public CAN(int busId, int deviceId, int deviceManufacturer, int deviceType) {
m_handle = CANAPIJNI.initializeCAN(busId, deviceManufacturer, deviceId, deviceType);
public CAN(CANBusMap busId, int deviceId, int deviceManufacturer, int deviceType) {
m_handle = CANAPIJNI.initializeCAN(busId.value, deviceManufacturer, deviceId, deviceType);
HAL.reportUsage("CAN[" + deviceType + "][" + deviceManufacturer + "][" + deviceId + "]", "");
}

70
wpilibj/src/main/java/org/wpilib/hardware/bus/CANBusMap.java Normal file
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@@ -0,0 +1,70 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.hardware.bus;
/**
* CAN bus mapping.
*
* <p>S0-S4 are Systemcore CAN buses. D0-D19 are Motioncore CAN buses.
*/
public enum CANBusMap {
/** CAN bus S0. */
CAN_S0(0),
/** CAN bus S1. */
CAN_S1(1),
/** CAN bus S2. */
CAN_S2(2),
/** CAN bus S3. */
CAN_S3(3),
/** CAN bus S4. */
CAN_S4(4),
/** CAN bus D0. */
CAN_D0(5),
/** CAN bus D1. */
CAN_D1(6),
/** CAN bus D2. */
CAN_D2(7),
/** CAN bus D3. */
CAN_D3(8),
/** CAN bus D4. */
CAN_D4(9),
/** CAN bus D5. */
CAN_D5(10),
/** CAN bus D6. */
CAN_D6(11),
/** CAN bus D7. */
CAN_D7(12),
/** CAN bus D8. */
CAN_D8(13),
/** CAN bus D9. */
CAN_D9(14),
/** CAN bus D10. */
CAN_D10(15),
/** CAN bus D11. */
CAN_D11(16),
/** CAN bus D12. */
CAN_D12(17),
/** CAN bus D13. */
CAN_D13(18),
/** CAN bus D14. */
CAN_D14(19),
/** CAN bus D15. */
CAN_D15(20),
/** CAN bus D16. */
CAN_D16(21),
/** CAN bus D17. */
CAN_D17(22),
/** CAN bus D18. */
CAN_D18(23),
/** CAN bus D19. */
CAN_D19(24);
/** CAN bus ID. */
public final int value;
CANBusMap(int value) {
this.value = value;
}
}