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Stick the CanTalonSrx code in, get it to compile

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There's a CANTalon class, but it doesn' do anything yet

Change-Id: Ib397db6fc0376f9de95e5efc42a223700be3dbca
This commit is contained in:
Thomas Clark
2014-11-09 13:25:18 -05:00
committed by James Kuszmaul
parent fb53eea6b2
commit c1f68eb2b0
14 changed files with 1197 additions and 478 deletions
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199
hal/lib/Athena/ctre/CtreCanNode.cpp
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@@ -1,98 +1,101 @@
#include "CtreCanNode.h"
#include "NetworkCommunication/CANSessionMux.h"
#include <string.h> // memset
#include <unistd.h> // usleep
static const UINT32 kFullMessageIDMask = 0x1fffffff;
CtreCanNode::CtreCanNode(UINT8 deviceNumber)
{
_deviceNumber = deviceNumber;
}
CtreCanNode::~CtreCanNode()
{
}
void CtreCanNode::RegisterRx(uint32_t arbId)
{
/* no need to do anything, we just use new API to poll last received message */
}
void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
{
int32_t status = 0;
txJob_t job;
job.arbId = arbId;
job.periodMs = periodMs;
_txJobs[arbId] = job;
FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
job.toSend,
8,
job.periodMs,
&status);
}
timespec diff(const timespec & start, const timespec & end)
{
timespec temp;
if ((end.tv_nsec-start.tv_nsec)<0) {
temp.tv_sec = end.tv_sec-start.tv_sec-1;
temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
} else {
temp.tv_sec = end.tv_sec-start.tv_sec;
temp.tv_nsec = end.tv_nsec-start.tv_nsec;
}
return temp;
}
CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
{
CTR_Code retval = CTR_OKAY;
int32_t status = 0;
uint8_t len = 0;
uint32_t timeStamp;
/* cap timeout at 999ms */
if(timeoutMs > 999)
timeoutMs = 999;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
if(status == 0){
/* fresh update */
rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
clock_gettime(2,&r.time); /* fill in time */
memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
}else{
/* did not get the message */
rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
if(i == _rxRxEvents.end()){
/* we've never gotten this mesage */
retval = CTR_RxTimeout;
/* fill caller's buffer with zeros */
memset(dataBytes,0,8);
}else{
/* we've gotten this message before but not recently */
memcpy(dataBytes,i->second.bytes,8);
/* get the time now */
struct timespec temp;
clock_gettime(2,&temp); /* get now */
/* how long has it been? */
temp = diff(i->second.time,temp); /* temp = now - last */
if(temp.tv_sec > 0){
retval = CTR_RxTimeout;
}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
retval = CTR_RxTimeout;
}else {
/* our last update was recent enough */
}
}
}
return retval;
}
void CtreCanNode::FlushTx(uint32_t arbId)
{
int32_t status = 0;
txJobs_t::iterator iter = _txJobs.find(arbId);
if(iter != _txJobs.end())
FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
iter->second.toSend,
8,
iter->second.periodMs,
&status);
}
#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
#include "CtreCanNode.h"
#include "NetworkCommunication/CANSessionMux.h"
#include <string.h> // memset
#include <unistd.h> // usleep
static const UINT32 kFullMessageIDMask = 0x1fffffff;
CtreCanNode::CtreCanNode(UINT8 deviceNumber)
{
_deviceNumber = deviceNumber;
}
CtreCanNode::~CtreCanNode()
{
}
void CtreCanNode::RegisterRx(uint32_t arbId)
{
/* no need to do anything, we just use new API to poll last received message */
}
void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
{
int32_t status = 0;
txJob_t job = {0};
job.arbId = arbId;
job.periodMs = periodMs;
_txJobs[arbId] = job;
FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
job.toSend,
8,
job.periodMs,
&status);
}
timespec diff(const timespec & start, const timespec & end)
{
timespec temp;
if ((end.tv_nsec-start.tv_nsec)<0) {
temp.tv_sec = end.tv_sec-start.tv_sec-1;
temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
} else {
temp.tv_sec = end.tv_sec-start.tv_sec;
temp.tv_nsec = end.tv_nsec-start.tv_nsec;
}
return temp;
}
CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
{
CTR_Code retval = CTR_OKAY;
int32_t status = 0;
uint8_t len = 0;
uint32_t timeStamp;
/* cap timeout at 999ms */
if(timeoutMs > 999)
timeoutMs = 999;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
if(status == 0){
/* fresh update */
rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
clock_gettime(2,&r.time); /* fill in time */
memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
}else{
/* did not get the message */
rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
if(i == _rxRxEvents.end()){
/* we've never gotten this mesage */
retval = CTR_RxTimeout;
/* fill caller's buffer with zeros */
memset(dataBytes,0,8);
}else{
/* we've gotten this message before but not recently */
memcpy(dataBytes,i->second.bytes,8);
/* get the time now */
struct timespec temp;
clock_gettime(2,&temp); /* get now */
/* how long has it been? */
temp = diff(i->second.time,temp); /* temp = now - last */
if(temp.tv_sec > 0){
retval = CTR_RxTimeout;
}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
retval = CTR_RxTimeout;
}else {
/* our last update was recent enough */
}
}
}
return retval;
}
void CtreCanNode::FlushTx(uint32_t arbId)
{
int32_t status = 0;
txJobs_t::iterator iter = _txJobs.find(arbId);
if(iter != _txJobs.end())
FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
iter->second.toSend,
8,
iter->second.periodMs,
&status);
}