C++ testing

Made a toplevel directory for C++ and C++ tests

Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3

Added the C++ testing framework and one test

Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785

wpilibc/wpilibC++/include/NetworkCommunication/CANInterfacePlugin.h

@@ -0,0 +1,61 @@
+// CANInterfacePlugin.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 __CANInterfacePlugin_h__
+#define __CANInterfacePlugin_h__
+
+#include <stdint.h>
+
+#define CAN_IS_FRAME_REMOTE 0x80000000
+#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
+
+class CANInterfacePlugin
+{
+public:
+	CANInterfacePlugin() {}
+	virtual ~CANInterfacePlugin() {}
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
+	 * a device on the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can indicate a remote frame.
+	 * @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message.  May be NULL if dataSize is 0.
+	 * @param dataSize The number of bytes to send with the message.
+	 * @return Return any error code.  On success return 0.
+	 */
+	virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
+	 * any received messages from devices on the CAN bus.
+	 * 
+	 * This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
+	 * 
+	 * This function is expected to block for some period of time waiting for a message from the CAN bus.
+	 * It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
+	 * shutdown and unloading of the plugin.
+	 * 
+	 * @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
+	 * @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
+	 * @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
+	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
+	 */
+	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+};
+
+/**
+ * This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
+ * 
+ * @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);
+
+#endif // __CANInterfacePlugin_h__