SCRIPT Move cc files

2026-06-21 01:01:43 +00:00 · 2025-11-07 19:55:39 -05:00
parent 10b4a0c971
commit 7ca1be9bae
1197 changed files with 0 additions and 0 deletions
--- a/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/bus/CAN.cpp
@@ -0,0 +1,120 @@
+// 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.
+
+#include "frc/CAN.h"
+
+#include <utility>
+
+#include <hal/CAN.h>
+#include <hal/CANAPI.h>
+#include <hal/Errors.h>
+#include <hal/UsageReporting.h>
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+CAN::CAN(int busId, int deviceId)
+    : CAN{busId, deviceId, kTeamManufacturer, kTeamDeviceType} {}
+
+CAN::CAN(int busId, int deviceId, int deviceManufacturer, int deviceType) {
+  int32_t status = 0;
+  m_handle = HAL_InitializeCAN(
+      busId, static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
+      static_cast<HAL_CANDeviceType>(deviceType), &status);
+  FRC_CheckErrorStatus(status, "device id {} mfg {} type {}", deviceId,
+                       deviceManufacturer, deviceType);
+
+  HAL_ReportUsage(
+      fmt::format("CAN[{}][{}][{}]", deviceType, deviceManufacturer, deviceId),
+      "");
+}
+
+void CAN::WritePacket(int apiId, const HAL_CANMessage& message) {
+  int32_t status = 0;
+  HAL_WriteCANPacket(m_handle, apiId, &message, &status);
+  FRC_CheckErrorStatus(status, "WritePacket");
+}
+
+void CAN::WritePacketRepeating(int apiId, const HAL_CANMessage& message,
+                               int repeatMs) {
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(m_handle, apiId, &message, repeatMs, &status);
+  FRC_CheckErrorStatus(status, "WritePacketRepeating");
+}
+
+void CAN::WriteRTRFrame(int apiId, const HAL_CANMessage& message) {
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(m_handle, apiId, &message, &status);
+  FRC_CheckErrorStatus(status, "WriteRTRFrame");
+}
+
+int CAN::WritePacketNoError(int apiId, const HAL_CANMessage& message) {
+  int32_t status = 0;
+  HAL_WriteCANPacket(m_handle, apiId, &message, &status);
+  return status;
+}
+
+int CAN::WritePacketRepeatingNoError(int apiId, const HAL_CANMessage& message,
+                                     int repeatMs) {
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(m_handle, apiId, &message, repeatMs, &status);
+  return status;
+}
+
+int CAN::WriteRTRFrameNoError(int apiId, const HAL_CANMessage& message) {
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(m_handle, apiId, &message, &status);
+  return status;
+}
+
+void CAN::StopPacketRepeating(int apiId) {
+  int32_t status = 0;
+  HAL_StopCANPacketRepeating(m_handle, apiId, &status);
+  FRC_CheckErrorStatus(status, "StopPacketRepeating");
+}
+
+bool CAN::ReadPacketNew(int apiId, HAL_CANReceiveMessage* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketNew(m_handle, apiId, data, &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    FRC_CheckErrorStatus(status, "ReadPacketNew");
+    return false;
+  } else {
+    return true;
+  }
+}
+
+bool CAN::ReadPacketLatest(int apiId, HAL_CANReceiveMessage* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketLatest(m_handle, apiId, data, &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    FRC_CheckErrorStatus(status, "ReadPacketLatest");
+    return false;
+  } else {
+    return true;
+  }
+}
+
+bool CAN::ReadPacketTimeout(int apiId, int timeoutMs,
+                            HAL_CANReceiveMessage* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketTimeout(m_handle, apiId, data, timeoutMs, &status);
+  if (status == HAL_CAN_TIMEOUT ||
+      status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    FRC_CheckErrorStatus(status, "ReadPacketTimeout");
+    return false;
+  } else {
+    return true;
+  }
+}