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

Will make it easier to solve
https://github.com/wpilibsuite/SystemcoreTesting/issues/286

hal/src/main/java/org/wpilib/hardware/hal/CANBusMap.java

@@ -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!");
-  }
-}

hal/src/main/native/include/wpi/hal/CANBusMap.h

@@ -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,
-};
-
-/** @} */

hal/src/test/native/cpp/can/CANTest.cpp

@@ -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;

wpilibc/robotpy_pybind_build_info.bzl

@@ -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",

wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp

@@ -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);

wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp

@@ -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;

wpilibc/src/main/native/include/wpi/hardware/bus/CANBusMap.hpp

@@ -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

wpilibc/src/main/python/pyproject.toml

@@ -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"
 

wpilibc/src/main/python/semiwrap/CAN.yml

@@ -6,8 +6,8 @@ classes:
     methods:
       CAN:
         overloads:
-          int, int:
+          CANBusMap, int:
-          int, int, int, int:
+          CANBusMap, int, int, int:
       WritePacket:
       WritePacketNoError:
       WritePacketRepeating:

wpilibc/src/main/python/semiwrap/CANBusMap.yml

@@ -0,0 +1,2 @@
+enums:
+  CANBusMap:

wpilibc/src/main/python/wpilib/__init__.py

@@ -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",

wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java

@@ -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) {
+  public CAN(CANBusMap busId, int deviceId, int deviceManufacturer, int deviceType) {
-    m_handle = CANAPIJNI.initializeCAN(busId, deviceManufacturer, deviceId, deviceType);
+    m_handle = CANAPIJNI.initializeCAN(busId.value, deviceManufacturer, deviceId, deviceType);
     HAL.reportUsage("CAN[" + deviceType + "][" + deviceManufacturer + "][" + deviceId + "]", "");
   }
 

wpilibj/src/main/java/org/wpilib/hardware/bus/CANBusMap.java

@@ -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;
+  }
+}