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[hal, wpilib] Rewrite CAN APIs (#7798)

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This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
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47
hal/src/main/native/sim/CAN.cpp
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@@ -14,45 +14,50 @@ void InitializeCAN() {}
extern "C" {
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {
SimCanData->sendMessage(messageID, data, dataSize, periodMs, status);
void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
const struct HAL_CANMessage* message, int32_t periodMs,
int32_t* status) {
SimCanData->sendMessage(busId, messageId, message, periodMs, status);
}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* status) {
// Use a data size of 42 as call check. Difficult to add check to invoke
void HAL_CAN_ReceiveMessage(int32_t busId, uint32_t messageId,
struct HAL_CANReceiveMessage* message,
int32_t* status) {
// Use a data size of 100 as call check. Difficult to add check to invoke
// handler
*dataSize = 42;
message->message.dataSize = 100;
auto tmpStatus = *status;
SimCanData->receiveMessage(messageID, messageIDMask, data, dataSize,
timeStamp, status);
SimCanData->receiveMessage(busId, messageId, message, status);
// If no handler invoked, return message not found
if (*dataSize == 42 && *status == tmpStatus) {
if (message->message.dataSize == 100 && *status == tmpStatus) {
*status = HAL_ERR_CANSessionMux_MessageNotFound;
}
}
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
int32_t* status) {
SimCanData->openStreamSession(sessionHandle, messageID, messageIDMask,
HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
uint32_t messageIDMask,
uint32_t maxMessages,
int32_t* status) {
HAL_CANStreamHandle handle = 0;
SimCanData->openStreamSession(&handle, busId, messageId, messageIDMask,
maxMessages, status);
return handle;
}
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {
void HAL_CAN_CloseStreamSession(HAL_CANStreamHandle sessionHandle) {
SimCanData->closeStreamSession(sessionHandle);
}
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
void HAL_CAN_ReadStreamSession(HAL_CANStreamHandle sessionHandle,
struct HAL_CANStreamMessage* messages,
uint32_t messagesToRead, uint32_t* messagesRead,
int32_t* status) {
SimCanData->readStreamSession(sessionHandle, messages, messagesToRead,
messagesRead, status);
}
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
uint32_t* txFullCount, uint32_t* receiveErrorCount,
void HAL_CAN_GetCANStatus(int32_t busId, float* percentBusUtilization,
uint32_t* busOffCount, uint32_t* txFullCount,
uint32_t* receiveErrorCount,
uint32_t* transmitErrorCount, int32_t* status) {
SimCanData->getCANStatus(percentBusUtilization, busOffCount, txFullCount,
receiveErrorCount, transmitErrorCount, status);
SimCanData->getCANStatus(busId, percentBusUtilization, busOffCount,
txFullCount, receiveErrorCount, transmitErrorCount,
status);
}
} // extern "C"