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
2026-06-30 02:31:44 +00:00 · 2014-06-16 10:24:48 -04:00
parent 58021f7397
commit 85dff7d2ec
19 changed files with 576 additions and 570 deletions
--- a/wpilibc/wpilibC++/include/CAN/JaguarCANDriver.h
+++ b/wpilibc/wpilibC++/include/CAN/JaguarCANDriver.h
@@ -1,56 +0,0 @@
-// JaguarCANDriver.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __JaguarCANDriver_h__
-#define __JaguarCANDriver_h__
-
-#if defined(__vxworks)
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#include <pthread.h>
-#endif
-#ifdef USE_THRIFT
-#include "NetCommRPCComm.h"
-#include <vector>
-#endif
-namespace nJaguarCANDriver
-{
-	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
-	void receiveMessage_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
-	int32_t receiveMessageStart_wrapper(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
-#if defined (__vxworks)
-	int32_t receiveMessageStart_sem_wrapper(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
-#else
-	int32_t receiveMessageStart_mutex_wrapper(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
-#endif
-	void receiveMessageComplete_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
-#ifdef USE_THRIFT
-	void checkEvent_CAN(std::vector< CANEvent >& events);
-#endif
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
-	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
-#if defined (__vxworks)
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
-#else
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
-#endif
-	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __JaguarCANDriver_h__
--- a/wpilibc/wpilibC++/include/CANJaguar.h
+++ b/wpilibc/wpilibC++/include/CANJaguar.h
@@ -15,6 +15,8 @@
 #include "LiveWindow/LiveWindowSendable.h"
 #include "tables/ITable.h"

+#include <utility>
+
 /**
 * Luminary Micro Jaguar Speed Control
 */
@@ -43,7 +45,6 @@ public:
 	// SpeedController interface
 	virtual float Get();
 	virtual void Set(float value, uint8_t syncGroup=0);
-	void SetNoAck(float value, uint8_t syncGroup=0);
 	virtual void Disable();

 	// PIDOutput interface
@@ -71,7 +72,6 @@ public:
 	bool GetForwardLimitOK();
 	bool GetReverseLimitOK();
 	uint16_t GetFaults();
-	bool GetPowerCycled();
 	void SetVoltageRampRate(double rampRate);
 	virtual uint32_t GetFirmwareVersion();
 	uint8_t GetHardwareVersion();
@@ -105,18 +105,52 @@ protected:
 	int16_t unpackint16_t(uint8_t *buffer);
 	int32_t unpackint32_t(uint8_t *buffer);
 	virtual void setTransaction(uint32_t messageID, const uint8_t *data, uint8_t dataSize);
-	virtual void getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataSize);
+	virtual bool getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataSize);

 	static int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize);
-	//#define kTimeoutCan 0.02
-	#define kTimeoutCan 0.0
-	static int32_t receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, float timeout = kTimeoutCan);
+	static int32_t receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize);

 	uint8_t m_deviceNumber;
 	ControlMode m_controlMode;
 	MUTEX_ID m_transactionSemaphore;
 	double m_maxOutputVoltage;

+    enum CANValue {
+        CAN_VALUE = 0x1,
+        CAN_SPEED_REFERENCE = 0x2,
+        CAN_POSITION_REFERENCE = 0x4,
+        CAN_P = 0x8, CAN_I = 0x10, CAN_D = 0x20,
+        CAN_BUS_VOLTAGE = 0x40,
+        CAN_OUTPUT_VOLTAGE = 0x80,
+        CAN_OUTPUT_CURRENT = 0x100,
+        CAN_TEMPERATURE = 0x200,
+        CAN_POSITION = 0x400,
+        CAN_SPEED = 0x800,
+        CAN_LIMITS = 0x1000,
+        CAN_FAULTS = 0x2000,
+        CAN_FIRMWARE_VERSION = 0x4000,
+        CAN_HARDWARE_VERSION = 0x8000,
+        CAN_EVERYTHING = 0xffff
+    };
+
+    bool isUnverified(CANValue value) const;
+    void verifyCANValues();
+
+    // Keep track of what cached CAN values have been verified.
+    CANValue m_verified_values;
+
+    // Cached CAN data
+    float m_value;
+    SpeedReference m_speedReference;
+    PositionReference m_positionReference;
+    double m_p, m_i, m_d;
+    float m_busVoltage, m_outputVoltage, m_outputCurrent, m_temperature;
+    double m_position, m_speed;
+    uint8_t m_limits;
+    uint16_t m_faults;
+    uint32_t m_firmwareVersion;
+    uint8_t m_hardwareVersion;
+
 	MotorSafetyHelper *m_safetyHelper;

 	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
@@ -126,7 +160,7 @@ protected:
 	std::string GetSmartDashboardType();
 	void InitTable(ITable *subTable);
 	ITable * GetTable();
-	
+
 	ITable *m_table;

 private:
--- a/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h
@@ -11,7 +11,9 @@
 #include <stdint.h>

 #define CAN_IS_FRAME_REMOTE 0x80000000
-#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
+#define CAN_IS_FRAME_11BIT  0x40000000
+#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
+#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF

 class CANInterfacePlugin
 {
@@ -56,6 +58,6 @@ public:
 * @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
 * the pure virtual interface.  If NULL, unregister the current plugin.
 */
-void FRC_NetworkCommunication_JaguarCANDriver_registerInterface(CANInterfacePlugin* interface);
+void FRC_NetworkCommunication_CANSessionMux_registerInterface(CANInterfacePlugin* interface);

 #endif // __CANInterfacePlugin_h__
--- a/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h
@@ -0,0 +1,61 @@
+// CANSessionMux.h
+//
+//  Defines the API for building a CAN Interface Plugin to support
+//    PWM-cable-free CAN motor control on FRC robots.  This allows you
+//    to connect any CAN interface to the secure Jaguar CAN driver.
+//
+
+#ifndef __CANSessionMux_h__
+#define __CANSessionMux_h__
+
+#if defined(__vxworks)
+#include <vxWorks.h>
+#else
+#include <stdint.h>
+#endif
+
+#define CAN_SEND_PERIOD_NO_REPEAT 0
+#define CAN_SEND_PERIOD_STOP_REPEATING -1
+
+/* Flags in the upper bits of the messageID */
+#define CAN_IS_FRAME_REMOTE 0x80000000
+#define CAN_IS_FRAME_11BIT  0x40000000
+
+#define ERR_CANSessionMux_InvalidBuffer   -44086
+#define ERR_CANSessionMux_MessageNotFound -44087
+#define WARN_CANSessionMux_NoToken         44087
+#define ERR_CANSessionMux_NotAllowed      -44088
+#define ERR_CANSessionMux_NotInitialized  -44089
+
+struct tCANStreamMessage{
+	uint32_t messageID;
+	uint32_t timeStamp;
+	uint8_t data[8];
+	uint8_t dataSize;
+};
+
+namespace nCANSessionMux
+{
+	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
+	void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
+	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
+	void closeStreamSession(uint32_t sessionHandle);
+	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+}
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
+	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
+	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __CANSessionMux_h__
--- a/wpilibc/wpilibC++/include/NetworkCommunication/JaguarCANDriver.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/JaguarCANDriver.h
@@ -1,56 +0,0 @@
-// JaguarCANDriver.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __JaguarCANDriver_h__
-#define __JaguarCANDriver_h__
-
-#if defined(__vxworks)
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#include <pthread.h>
-#endif
-#ifdef USE_THRIFT
-#include "NetCommRPCComm.h"
-#include <vector>
-#endif
-namespace nJaguarCANDriver
-{
-	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
-	void receiveMessage_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
-	int32_t receiveMessageStart_wrapper(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
-#if defined (__vxworks)
-	int32_t receiveMessageStart_sem_wrapper(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
-#else
-	int32_t receiveMessageStart_mutex_wrapper(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
-#endif
-	void receiveMessageComplete_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
-#ifdef USE_THRIFT
-	void checkEvent_CAN(std::vector< CANEvent >& events);
-#endif
-}
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
-	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
-#if defined (__vxworks)
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
-#else
-	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
-#endif
-	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __JaguarCANDriver_h__
--- a/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h
+++ b/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h
@@ -26,7 +26,7 @@ namespace nUsageReporting
        kResourceType_CANPlugin,
        kResourceType_Accelerometer,
        kResourceType_ADXL345,
-        kResourceType_AnalogInput,
+        kResourceType_AnalogChannel,
        kResourceType_AnalogTrigger,
        kResourceType_AnalogTriggerOutput,
        kResourceType_CANJaguar,