Add new CAN API (#1036)

wpilibc/src/main/native/include/CAN.h

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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/CANAPI.h>
+#include <wpi/ArrayRef.h>
+
+#include "ErrorBase.h"
+
+namespace frc {
+struct CANData {
+  uint8_t data[8];
+  int32_t length;
+  uint64_t timestamp;
+};
+
+/**
+ * High level class for interfacing with CAN devices conforming to
+ * the standard CAN spec.
+ *
+ * No packets that can be sent gets blocked by the RoboRIO, so all methods
+ * work identically in all robot modes.
+ *
+ * All methods are thread save, however the buffer objects passed in
+ * by the user need to not be modified for the duration of their calls.
+ */
+class CAN : public ErrorBase {
+ public:
+  explicit CAN(int deviceId);
+  ~CAN() override;
+
+  void WritePacket(const uint8_t* data, int length, int apiId);
+  void WritePacketRepeating(const uint8_t* data, int length, int apiId,
+                            int repeatMs);
+  void StopPacketRepeating(int apiId);
+
+  bool ReadPacketNew(int apiId, CANData* data);
+  bool ReadPacketLatest(int apiId, CANData* data);
+  bool ReadPacketTimeout(int apiId, int timeoutMs, CANData* data);
+  bool ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
+                          CANData* data);
+
+  static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
+  static constexpr HAL_CANDeviceType kTeamDeviceType =
+      HAL_CAN_Dev_kMiscellaneous;
+
+ private:
+  HAL_CANHandle m_handle{HAL_kInvalidHandle};
+};
+}  // namespace frc