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

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+// 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 <hal/CANAPI.h>
+
+namespace frc {
+
+/**
+ * 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:
+  /**
+   * Create a new CAN communication interface with the specific device ID.
+   * This uses the team manufacturer and device types.
+   * The device ID is 6 bits (0-63)
+   *
+   * @param busId    The bus id
+   * @param deviceId The device id
+   */
+  CAN(int busId, int deviceId);
+
+  /**
+   * Create a new CAN communication interface with a specific device ID,
+   * manufacturer and device type. The device ID is 6 bits, the
+   * manufacturer is 8 bits, and the device type is 5 bits.
+   *
+   * @param busId              The bus id
+   * @param deviceId           The device ID
+   * @param deviceManufacturer The device manufacturer
+   * @param deviceType         The device type
+   */
+  CAN(int busId, int deviceId, int deviceManufacturer, int deviceType);
+
+  CAN(CAN&&) = default;
+  CAN& operator=(CAN&&) = default;
+
+  /**
+   * Write a packet to the CAN device with a specific ID. This ID is 10 bits.
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   */
+  void WritePacket(int apiId, const HAL_CANMessage& message);
+
+  /**
+   * Write a repeating packet to the CAN device with a specific ID. This ID is
+   * 10 bits. The RoboRIO will automatically repeat the packet at the specified
+   * interval
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   * @param repeatMs The period to repeat the packet at.
+   */
+  void WritePacketRepeating(int apiId, const HAL_CANMessage& message,
+                            int repeatMs);
+
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10
+   * bits. The length by spec must match what is returned by the responding
+   * device
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   */
+  void WriteRTRFrame(int apiId, const HAL_CANMessage& message);
+
+  /**
+   * Write a packet to the CAN device with a specific ID. This ID is 10 bits.
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   */
+  int WritePacketNoError(int apiId, const HAL_CANMessage& message);
+
+  /**
+   * Write a repeating packet to the CAN device with a specific ID. This ID is
+   * 10 bits. The RoboRIO will automatically repeat the packet at the specified
+   * interval
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   * @param repeatMs The period to repeat the packet at.
+   */
+  int WritePacketRepeatingNoError(int apiId, const HAL_CANMessage& message,
+                                  int repeatMs);
+
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10
+   * bits. The length by spec must match what is returned by the responding
+   * device
+   *
+   * @param apiId The API ID to write.
+   * @param message the CAN message.
+   */
+  int WriteRTRFrameNoError(int apiId, const HAL_CANMessage& message);
+
+  /**
+   * Stop a repeating packet with a specific ID. This ID is 10 bits.
+   *
+   * @param apiId The API ID to stop repeating
+   */
+  void StopPacketRepeating(int apiId);
+
+  /**
+   * Read a new CAN packet. This will only return properly once per packet
+   * received. Multiple calls without receiving another packet will return
+   * false.
+   *
+   * @param apiId The API ID to read.
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketNew(int apiId, HAL_CANReceiveMessage* data);
+
+  /**
+   * Read a CAN packet. The will continuously return the last packet received,
+   * without accounting for packet age.
+   *
+   * @param apiId The API ID to read.
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketLatest(int apiId, HAL_CANReceiveMessage* data);
+
+  /**
+   * Read a CAN packet. The will return the last packet received until the
+   * packet is older then the requested timeout. Then it will return false.
+   *
+   * @param apiId The API ID to read.
+   * @param timeoutMs The timeout time for the packet
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketTimeout(int apiId, int timeoutMs, HAL_CANReceiveMessage* data);
+
+  /// Team manufacturer.
+  static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
+
+  /// Team device type.
+  static constexpr HAL_CANDeviceType kTeamDeviceType =
+      HAL_CAN_Dev_kMiscellaneous;
+
+ private:
+  hal::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
+};
+}  // namespace frc