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

wpilibc/src/main/native/include/frc/CAN.h

@@ -9,14 +9,6 @@
 #include <hal/CANAPI.h>
 
 namespace frc {
-struct CANData {
-  /** Contents of the CAN packet. */
-  uint8_t data[8];
-  /** Length of packet in bytes. */
-  int32_t length;
-  /** CAN frame timestamp in milliseconds. */
-  uint64_t timestamp;
-};
 
 /**
  * High level class for interfacing with CAN devices conforming to
@@ -35,20 +27,22 @@ class CAN {
    * This uses the team manufacturer and device types.
    * The device ID is 6 bits (0-63)
    *
+   * @param busId    The bus id
    * @param deviceId The device id
    */
-  explicit CAN(int deviceId);
+  CAN(int busId, int deviceId);
 
   /**
    * Create a new CAN communication interface with a specific device ID,
    * manufacturer and device type. The device ID is 6 bits, the
    * manufacturer is 8 bits, and the device type is 5 bits.
    *
+   * @param busId              The bus id
    * @param deviceId           The device ID
    * @param deviceManufacturer The device manufacturer
    * @param deviceType         The device type
    */
-  CAN(int deviceId, int deviceManufacturer, int deviceType);
+  CAN(int busId, int deviceId, int deviceManufacturer, int deviceType);
 
   CAN(CAN&&) = default;
   CAN& operator=(CAN&&) = default;
@@ -56,23 +50,21 @@ class CAN {
   /**
    * Write a packet to the CAN device with a specific ID. This ID is 10 bits.
    *
-   * @param data The data to write (8 bytes max)
-   * @param length The data length to write
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    */
-  void WritePacket(const uint8_t* data, int length, int apiId);
+  void WritePacket(int apiId, const HAL_CANMessage& message);
 
   /**
    * Write a repeating packet to the CAN device with a specific ID. This ID is
    * 10 bits. The RoboRIO will automatically repeat the packet at the specified
    * interval
    *
-   * @param data The data to write (8 bytes max)
-   * @param length The data length to write
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    * @param repeatMs The period to repeat the packet at.
    */
-  void WritePacketRepeating(const uint8_t* data, int length, int apiId,
+  void WritePacketRepeating(int apiId, const HAL_CANMessage& message,
                             int repeatMs);
 
   /**
@@ -80,31 +72,29 @@ class CAN {
    * bits. The length by spec must match what is returned by the responding
    * device
    *
-   * @param length The length to request (0 to 8)
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    */
-  void WriteRTRFrame(int length, int apiId);
+  void WriteRTRFrame(int apiId, const HAL_CANMessage& message);
 
   /**
    * Write a packet to the CAN device with a specific ID. This ID is 10 bits.
    *
-   * @param data The data to write (8 bytes max)
-   * @param length The data length to write
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    */
-  int WritePacketNoError(const uint8_t* data, int length, int apiId);
+  int WritePacketNoError(int apiId, const HAL_CANMessage& message);
 
   /**
    * Write a repeating packet to the CAN device with a specific ID. This ID is
    * 10 bits. The RoboRIO will automatically repeat the packet at the specified
    * interval
    *
-   * @param data The data to write (8 bytes max)
-   * @param length The data length to write
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    * @param repeatMs The period to repeat the packet at.
    */
-  int WritePacketRepeatingNoError(const uint8_t* data, int length, int apiId,
+  int WritePacketRepeatingNoError(int apiId, const HAL_CANMessage& message,
                                   int repeatMs);
 
   /**
@@ -112,10 +102,10 @@ class CAN {
    * bits. The length by spec must match what is returned by the responding
    * device
    *
-   * @param length The length to request (0 to 8)
    * @param apiId The API ID to write.
+   * @param message the CAN message.
    */
-  int WriteRTRFrameNoError(int length, int apiId);
+  int WriteRTRFrameNoError(int apiId, const HAL_CANMessage& message);
 
   /**
    * Stop a repeating packet with a specific ID. This ID is 10 bits.
@@ -133,7 +123,7 @@ class CAN {
    * @param data Storage for the received data.
    * @return True if the data is valid, otherwise false.
    */
-  bool ReadPacketNew(int apiId, CANData* data);
+  bool ReadPacketNew(int apiId, HAL_CANReceiveMessage* data);
 
   /**
    * Read a CAN packet. The will continuously return the last packet received,
@@ -143,7 +133,7 @@ class CAN {
    * @param data Storage for the received data.
    * @return True if the data is valid, otherwise false.
    */
-  bool ReadPacketLatest(int apiId, CANData* data);
+  bool ReadPacketLatest(int apiId, HAL_CANReceiveMessage* data);
 
   /**
    * Read a CAN packet. The will return the last packet received until the
@@ -154,16 +144,7 @@ class CAN {
    * @param data Storage for the received data.
    * @return True if the data is valid, otherwise false.
    */
-  bool ReadPacketTimeout(int apiId, int timeoutMs, CANData* data);
-
-  /**
-   * Reads the current value of the millisecond-resolution timer that CANData
-   * timestamps are based on
-   *
-   * @return Current value of timer used as a base time for CANData timestamps
-   * in milliseconds
-   */
-  static uint64_t GetTimestampBaseTime();
+  bool ReadPacketTimeout(int apiId, int timeoutMs, HAL_CANReceiveMessage* data);
 
   /// Team manufacturer.
   static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;

wpilibc/src/main/native/include/frc/Compressor.h

@@ -37,17 +37,19 @@ class Compressor : public wpi::Sendable,
   /**
    * Constructs a compressor for a specified module and type.
    *
+   * @param busId The bus ID.
    * @param module The module ID to use.
    * @param moduleType The module type to use.
    */
-  Compressor(int module, PneumaticsModuleType moduleType);
+  Compressor(int busId, int module, PneumaticsModuleType moduleType);
 
   /**
    * Constructs a compressor for a default module and specified type.
    *
+   * @param busId The bus ID.
    * @param moduleType The module type to use.
    */
-  explicit Compressor(PneumaticsModuleType moduleType);
+  Compressor(int busId, PneumaticsModuleType moduleType);
 
   ~Compressor() override;
 

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -41,23 +41,25 @@ class DoubleSolenoid : public wpi::Sendable,
    * Constructs a double solenoid for a specified module of a specific module
    * type.
    *
+   * @param busId The bus ID.
    * @param module The module of the solenoid module to use.
    * @param moduleType The module type to use.
    * @param forwardChannel The forward channel on the module to control.
    * @param reverseChannel The reverse channel on the module to control.
    */
-  DoubleSolenoid(int module, PneumaticsModuleType moduleType,
+  DoubleSolenoid(int busId, int module, PneumaticsModuleType moduleType,
                  int forwardChannel, int reverseChannel);
 
   /**
    * Constructs a double solenoid for a default module of a specific module
    * type.
    *
+   * @param busId The bus ID.
    * @param moduleType The module type to use.
    * @param forwardChannel The forward channel on the module to control.
    * @param reverseChannel The reverse channel on the module to control.
    */
-  DoubleSolenoid(PneumaticsModuleType moduleType, int forwardChannel,
+  DoubleSolenoid(int busId, PneumaticsModuleType moduleType, int forwardChannel,
                  int reverseChannel);
 
   ~DoubleSolenoid() override;

wpilibc/src/main/native/include/frc/PneumaticHub.h

@@ -17,15 +17,20 @@ namespace frc {
 /** Module class for controlling a REV Robotics Pneumatic Hub. */
 class PneumaticHub : public PneumaticsBase {
  public:
-  /** Constructs a PneumaticHub with the default ID (1). */
-  PneumaticHub();
+  /**
+   * Constructs a PneumaticHub with the default ID (1).
+   *
+   * @param busId The bus ID.
+   */
+  explicit PneumaticHub(int busId);
 
   /**
    * Constructs a PneumaticHub.
    *
+   * @param busId The bus ID.
    * @param module module number to construct
    */
-  explicit PneumaticHub(int module);
+  PneumaticHub(int busId, int module);
 
   ~PneumaticHub() override = default;
 
@@ -296,17 +301,17 @@ class PneumaticHub : public PneumaticsBase {
   class DataStore;
   friend class DataStore;
   friend class PneumaticsBase;
-  PneumaticHub(HAL_REVPHHandle handle, int module);
+  PneumaticHub(int busId, HAL_REVPHHandle handle, int module);
 
-  static std::shared_ptr<PneumaticsBase> GetForModule(int module);
+  static std::shared_ptr<PneumaticsBase> GetForModule(int busId, int module);
 
   std::shared_ptr<DataStore> m_dataStore;
   HAL_REVPHHandle m_handle;
   int m_module;
 
   static wpi::mutex m_handleLock;
-  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
-      m_handleMap;
-  static std::weak_ptr<DataStore>& GetDataStore(int module);
+  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>[]>
+      m_handleMaps;
+  static std::weak_ptr<DataStore>& GetDataStore(int busId, int module);
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/PneumaticsBase.h

@@ -267,12 +267,13 @@ class PneumaticsBase {
   /**
    * For internal use to get a module for a specific type.
    *
+   * @param busId The bus ID.
    * @param module module number
    * @param moduleType module type
    * @return module
    */
   static std::shared_ptr<PneumaticsBase> GetForType(
-      int module, PneumaticsModuleType moduleType);
+      int busId, int module, PneumaticsModuleType moduleType);
 
   /**
    * For internal use to get the default for a specific type.

wpilibc/src/main/native/include/frc/PneumaticsControlModule.h

@@ -17,15 +17,20 @@ namespace frc {
  * Module. */
 class PneumaticsControlModule : public PneumaticsBase {
  public:
-  /** Constructs a PneumaticsControlModule with the default ID (0). */
-  PneumaticsControlModule();
+  /**
+   * Constructs a PneumaticsControlModule with the default ID (0).
+   *
+   * @param busId The bus ID.
+   */
+  explicit PneumaticsControlModule(int busId);
 
   /**
    * Constructs a PneumaticsControlModule.
    *
+   * @param busId The bus ID.
    * @param module module number to construct
    */
-  explicit PneumaticsControlModule(int module);
+  PneumaticsControlModule(int busId, int module);
 
   ~PneumaticsControlModule() override = default;
 
@@ -196,17 +201,17 @@ class PneumaticsControlModule : public PneumaticsBase {
   class DataStore;
   friend class DataStore;
   friend class PneumaticsBase;
-  PneumaticsControlModule(HAL_CTREPCMHandle handle, int module);
+  PneumaticsControlModule(int busId, HAL_CTREPCMHandle handle, int module);
 
-  static std::shared_ptr<PneumaticsBase> GetForModule(int module);
+  static std::shared_ptr<PneumaticsBase> GetForModule(int busId, int module);
 
   std::shared_ptr<DataStore> m_dataStore;
   HAL_CTREPCMHandle m_handle;
   int m_module;
 
   static wpi::mutex m_handleLock;
-  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
-      m_handleMap;
-  static std::weak_ptr<DataStore>& GetDataStore(int module);
+  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>[]>
+      m_handleMaps;
+  static std::weak_ptr<DataStore>& GetDataStore(int busId, int module);
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/PowerDistribution.h

@@ -38,16 +38,19 @@ class PowerDistribution : public wpi::Sendable,
    *
    * Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1
    * for REV).
+   *
+   * @param busId The bus ID.
    */
-  PowerDistribution();
+  explicit PowerDistribution(int busId);
 
   /**
    * Constructs a PowerDistribution object.
    *
+   * @param busId The bus ID.
    * @param module The CAN ID of the PDP/PDH
    * @param moduleType The type of module
    */
-  PowerDistribution(int module, ModuleType moduleType);
+  PowerDistribution(int busId, int module, ModuleType moduleType);
 
   PowerDistribution(PowerDistribution&&) = default;
   PowerDistribution& operator=(PowerDistribution&&) = default;

wpilibc/src/main/native/include/frc/RobotController.h

@@ -336,9 +336,10 @@ class RobotController {
   /**
    * Get the current status of the CAN bus.
    *
+   * @param busId The bus ID.
    * @return The status of the CAN bus
    */
-  static CANStatus GetCANStatus();
+  static CANStatus GetCANStatus(int busId);
 
  private:
   static std::function<uint64_t()> m_timeSource;

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -28,19 +28,21 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
   /**
    * Constructs a solenoid for a specified module and type.
    *
+   * @param busId The bus ID.
    * @param module The module ID to use.
    * @param moduleType The module type to use.
    * @param channel The channel the solenoid is on.
    */
-  Solenoid(int module, PneumaticsModuleType moduleType, int channel);
+  Solenoid(int busId, int module, PneumaticsModuleType moduleType, int channel);
 
   /**
    * Constructs a solenoid for a default module and specified type.
    *
+   * @param busId The bus ID.
    * @param moduleType The module type to use.
    * @param channel The channel the solenoid is on.
    */
-  Solenoid(PneumaticsModuleType moduleType, int channel);
+  Solenoid(int busId, PneumaticsModuleType moduleType, int channel);
 
   ~Solenoid() override;