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New netcomms .so and headers.
CAN isn't fully working yet, but this change is necessary to compile for the v9 image. Change-Id: Ife99686a7e7a9979c95ec7a395d597011090fa37
This commit is contained in:
thomasclark
@@ -11,7 +11,9 @@
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#include <stdint.h>
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#define CAN_IS_FRAME_REMOTE 0x80000000
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#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
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#define CAN_IS_FRAME_11BIT 0x40000000
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#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
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#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
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class CANInterfacePlugin
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{
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@@ -56,6 +58,6 @@ public:
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* @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
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* the pure virtual interface. If NULL, unregister the current plugin.
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*/
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void FRC_NetworkCommunication_JaguarCANDriver_registerInterface(CANInterfacePlugin* interface);
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void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
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#endif // __CANInterfacePlugin_h__
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61
hal/lib/Athena/NetworkCommunication/CANSessionMux.h
Normal file
61
hal/lib/Athena/NetworkCommunication/CANSessionMux.h
Normal file
@@ -0,0 +1,61 @@
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// CANSessionMux.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
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// to connect any CAN interface to the secure Jaguar CAN driver.
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//
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#ifndef __CANSessionMux_h__
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#define __CANSessionMux_h__
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#if defined(__vxworks)
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#endif
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#define CAN_SEND_PERIOD_NO_REPEAT 0
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#define CAN_SEND_PERIOD_STOP_REPEATING -1
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/* Flags in the upper bits of the messageID */
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#define CAN_IS_FRAME_REMOTE 0x80000000
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#define CAN_IS_FRAME_11BIT 0x40000000
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#define ERR_CANSessionMux_InvalidBuffer -44086
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#define ERR_CANSessionMux_MessageNotFound -44087
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#define WARN_CANSessionMux_NoToken 44087
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#define ERR_CANSessionMux_NotAllowed -44088
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#define ERR_CANSessionMux_NotInitialized -44089
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struct tCANStreamMessage{
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uint32_t messageID;
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uint32_t timeStamp;
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uint8_t data[8];
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uint8_t dataSize;
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};
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namespace nCANSessionMux
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{
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void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
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void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
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void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
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void closeStreamSession(uint32_t sessionHandle);
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void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
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}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
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void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
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void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
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#ifdef __cplusplus
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}
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#endif
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#endif // __CANSessionMux_h__
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@@ -1,56 +0,0 @@
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// JaguarCANDriver.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
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// to connect any CAN interface to the secure Jaguar CAN driver.
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//
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#ifndef __JaguarCANDriver_h__
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#define __JaguarCANDriver_h__
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#if defined(__vxworks)
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#include <pthread.h>
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#endif
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#ifdef USE_THRIFT
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#include "NetCommRPCComm.h"
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#include <vector>
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#endif
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namespace nJaguarCANDriver
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{
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void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
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void receiveMessage_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
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int32_t receiveMessageStart_wrapper(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
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#if defined (__vxworks)
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int32_t receiveMessageStart_sem_wrapper(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
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#else
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int32_t receiveMessageStart_mutex_wrapper(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
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#endif
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void receiveMessageComplete_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
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#ifdef USE_THRIFT
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void checkEvent_CAN(std::vector< CANEvent >& events);
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#endif
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}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
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#if defined (__vxworks)
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
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#else
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
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#ifdef __cplusplus
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}
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#endif
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#endif // __JaguarCANDriver_h__
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