Add new CAN API (#1036)

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

@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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"
+
+enum HAL_CANDeviceType : int32_t {
+  HAL_CAN_Dev_kBroadcast = 0,
+  HAL_CAN_Dev_kRobotController = 1,
+  HAL_CAN_Dev_kMotorController = 2,
+  HAL_CAN_Dev_kRelayController = 3,
+  HAL_CAN_Dev_kGyroSensor = 4,
+  HAL_CAN_Dev_kAccelerometer = 5,
+  HAL_CAN_Dev_kUltrasonicSensor = 6,
+  HAL_CAN_Dev_kGearToothSensor = 7,
+  HAL_CAN_Dev_kPowerDistribution = 8,
+  HAL_CAN_Dev_kPneumatics = 9,
+  HAL_CAN_Dev_kMiscellaneous = 10,
+  HAL_CAN_Dev_kFirmwareUpdate = 31
+};
+
+enum HAL_CANManufacturer : int32_t {
+  HAL_CAN_Man_kBroadcast = 0,
+  HAL_CAN_Man_kNI = 1,
+  HAL_CAN_Man_kLM = 2,
+  HAL_CAN_Man_kDEKA = 3,
+  HAL_CAN_Man_kCTRE = 4,
+  HAL_CAN_Man_kMS = 7,
+  HAL_CAN_Man_kTeamUse = 8,
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
+                                int32_t deviceId, HAL_CANDeviceType deviceType,
+                                int32_t* status);
+
+void HAL_CleanCAN(HAL_CANHandle handle);
+
+void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
+                        int32_t length, int32_t apiId, int32_t* status);
+
+void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
+                                 int32_t length, int32_t apiId,
+                                 int32_t repeatMs, int32_t* status);
+
+void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
+                                int32_t* status);
+
+void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
+                          int32_t* length, uint64_t* receivedTimestamp,
+                          int32_t* status);
+
+void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
+                             int32_t* length, uint64_t* receivedTimestamp,
+                             int32_t* status);
+
+void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
+                              uint8_t* data, int32_t* length,
+                              uint64_t* receivedTimestamp, int32_t timeoutMs,
+                              int32_t* status);
+void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
+                               uint8_t* data, int32_t* length,
+                               uint64_t* receivedTimestamp, int32_t timeoutMs,
+                               int32_t periodMs, int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

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

@@ -103,6 +103,9 @@
 #define HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE \
   "HAL: The priority requested to be set is invalid"
 
+#define HAL_CAN_TIMEOUT -1154
+#define HAL_CAN_TIMEOUT_MESSAGE "HAL: CAN Receive has Timed Out"
+
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
 #define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"

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

@@ -43,4 +43,6 @@ typedef HAL_Handle HAL_RelayHandle;
 
 typedef HAL_Handle HAL_SolenoidHandle;
 
+typedef HAL_Handle HAL_CANHandle;
+
 typedef int32_t HAL_Bool;

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

@@ -57,7 +57,8 @@ enum class HAL_HandleEnum {
   Solenoid = 15,
   AnalogGyro = 16,
   Vendor = 17,
-  SimulationJni = 18
+  SimulationJni = 18,
+  CAN = 19,
 };
 
 static inline int16_t getHandleIndex(HAL_Handle handle) {