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[hal] Add CANJNI docs (NFC) (#6120)

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m10653
2024-01-01 01:44:27 -05:00
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parent b7f4eb2811
commit c16946c0ec
1 changed files with 55 additions and 0 deletions
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55
hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
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@@ -9,6 +9,11 @@ import edu.wpi.first.hal.JNIWrapper;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
/**
* CAN API HAL JNI Functions.
*
* @see "hal/CAN.h"
*/
@SuppressWarnings("MethodName")
public class CANJNI extends JNIWrapper {
public static final int CAN_SEND_PERIOD_NO_REPEAT = 0;
@@ -18,18 +23,68 @@ public class CANJNI extends JNIWrapper {
public static final int CAN_IS_FRAME_REMOTE = 0x80000000;
public static final int CAN_IS_FRAME_11BIT = 0x40000000;
/**
* Sends a CAN message.
*
* @param messageID The ID of the CAN message.
* @param data The data bytes to be sent.
* @param periodMs The period in milliseconds at which to send the message, use {@link
* #CAN_SEND_PERIOD_NO_REPEAT} for a single send.
*/
public static native void FRCNetCommCANSessionMuxSendMessage(
int messageID, byte[] data, int periodMs);
/**
* Receives a CAN message.
*
* @param messageID store for the received message ID (output parameter).
* @param messageIDMask the message ID mask to look for
* @param timeStamp the packet received timestamp (based off of CLOCK_MONOTONIC) (output
* parameter).
* @return The data bytes of the received message.
*/
public static native byte[] FRCNetCommCANSessionMuxReceiveMessage(
IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
/**
* Retrieves the current status of the CAN bus.
*
* @param status The CANStatus object to hold the retrieved status.
*/
public static native void getCANStatus(CANStatus status);
/**
* Opens a new CAN stream session for receiving CAN messages with specified filters.
*
* @param messageID The CAN messageID to match against. The bits of the messageID are bitwise
* ANDed with the messageIDMask.
* @param messageIDMask The CAN messageIDMask is a bit-wise mask of bits in the messageID to match
* against. This allows matching against multiple frames. For example, providing an messageID
* of 0x2050001 and a mask of 0x1FFF003F would match all REV motor controller frames for a
* device with CAN ID 1. Providing a mask of 0x1FFFFFFF means that only the exact messageID
* will be matched. Providing a mask of 0 would match any frame of any type.
* @param maxMessages The maximum number of messages that can be buffered in the session.
* @return The handle to the opened CAN stream session.
*/
public static native int openCANStreamSession(int messageID, int messageIDMask, int maxMessages);
/**
* Closes a CAN stream session.
*
* @param sessionHandle The handle of the CAN stream session to be closed.
*/
public static native void closeCANStreamSession(int sessionHandle);
/**
* Reads messages from a CAN stream session.
*
* @param sessionHandle The handle of the CAN stream session.
* @param messages An array to hold the CANStreamMessage objects (output parameter).
* @param messagesToRead The number of messages to read from the session.
* @return The number of messages read into the buffer
* @throws CANStreamOverflowException If the number of messages to read exceeds the capacity of
* the provided messages array.
*/
public static native int readCANStreamSession(
int sessionHandle, CANStreamMessage[] messages, int messagesToRead)
throws CANStreamOverflowException;