Add new CAN API (#1036)

2026-06-20 00:51:42 +00:00 · 2018-05-21 16:09:38 -07:00
parent 55b0fe0082
commit 680aabbe7c
19 changed files with 1545 additions and 1 deletions
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/CANAPI.h"
+#include "HAL/HAL.h"
+#include "MockData/CanData.h"
+#include "gtest/gtest.h"
+
+namespace hal {
+struct CANTestStore {
+  CANTestStore(int32_t deviceId, int32_t* status) {
+    this->deviceId = deviceId;
+    handle = HAL_InitializeCAN(
+        HAL_CANManufacturer::HAL_CAN_Man_kTeamUse, deviceId,
+        HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous, status);
+  }
+
+  ~CANTestStore() {
+    if (handle != HAL_kInvalidHandle) {
+      HAL_CleanCAN(handle);
+    }
+  }
+
+  int32_t deviceId;
+  HAL_CANHandle handle;
+};
+
+struct CANReceiveCallbackStore {
+  explicit CANReceiveCallbackStore(int32_t handle) { this->handle = handle; }
+  ~CANReceiveCallbackStore() { HALSIM_CancelCanReceiveMessageCallback(handle); }
+  int32_t handle;
+};
+
+struct CANSendCallbackStore {
+  explicit CANSendCallbackStore(int32_t handle) { this->handle = handle; }
+  ~CANSendCallbackStore() { HALSIM_CancelCanSendMessageCallback(handle); }
+  int32_t handle;
+};
+
+TEST(HALCanTests, CanIdPackingTest) {
+  int32_t status = 0;
+  int32_t deviceId = 12;
+  CANTestStore testStore(deviceId, &status);
+  ASSERT_EQ(0, status);
+
+  std::pair<int32_t, bool> storePair;
+  storePair.second = false;
+
+  auto cbHandle = HALSIM_RegisterCanSendMessageCallback(
+      [](const char* name, void* param, uint32_t messageID, const uint8_t* data,
+         uint8_t dataSize, int32_t periodMs, int32_t* status) {
+        std::pair<int32_t, bool>* paramI =
+            reinterpret_cast<std::pair<int32_t, bool>*>(param);
+        paramI->first = messageID;
+        paramI->second = true;
+      },
+      &storePair);
+
+  CANSendCallbackStore cbStore(cbHandle);
+  uint8_t data[8];
+
+  int32_t apiId = 42;
+
+  HAL_WriteCANPacket(testStore.handle, data, 8, 42, &status);
+
+  ASSERT_EQ(0, status);
+
+  ASSERT_TRUE(storePair.second);
+
+  ASSERT_NE(0, storePair.first);
+
+  ASSERT_EQ(deviceId, storePair.first & 0x3F);
+  ASSERT_EQ(apiId, (storePair.first & 0x0000FFC0) >> 6);
+  ASSERT_EQ(static_cast<int32_t>(HAL_CANManufacturer::HAL_CAN_Man_kTeamUse),
+            (storePair.first & 0x00FF0000) >> 16);
+  ASSERT_EQ(static_cast<int32_t>(HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous),
+            (storePair.first & 0x1F000000) >> 24);
+}
+}  // namespace hal