Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove periodic can read call (#1868)

Browse Source 
It is not necessary anymore, and is a complicated and confusing API to keep around.
This commit is contained in:
Thad House
2019-09-28 15:38:58 -07:00
committed by Peter Johnson
parent 41efb8015d
commit 8858ec55c7
8 changed files with 22 additions and 201 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
hal/src/main/native/athena/CANAPI.cpp
View File

@@ -68,6 +68,8 @@ static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
return createdId;
}
extern "C" {
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
int32_t* status) {
@@ -262,65 +264,4 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
}
}
}
void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
uint8_t* data, int32_t* length,
uint64_t* receivedTimestamp, int32_t timeoutMs,
int32_t periodMs, int32_t* status) {
auto can = canHandles->Get(handle);
if (!can) {
*status = HAL_HANDLE_ERROR;
return;
}
uint32_t messageId = CreateCANId(can.get(), apiId);
{
std::scoped_lock lock(can->mapMutex);
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = GetPacketBaseTime();
if (now - i->second.lastTimeStamp < static_cast<uint32_t>(periodMs)) {
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;
return;
}
}
}
uint8_t dataSize = 0;
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
msg.length = dataSize;
*length = dataSize;
msg.lastTimeStamp = ts;
*receivedTimestamp = ts;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
} else {
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = GetPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
return;
}
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;
}
}
}
} // extern "C"