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New netcomms .so and headers.

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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
2014-06-16 10:24:48 -04:00
parent 58021f7397
commit 85dff7d2ec
19 changed files with 576 additions and 570 deletions
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61
wpilibc/wpilibC++/include/NetworkCommunication/CANSessionMux.h Normal file
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// 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__