Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting
the system include directories.

Folder names were also normalized to lowercase.

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

@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <hal/CANAPI.h>
+#include <wpi/ArrayRef.h>
+
+#include "frc/ErrorBase.h"
+
+namespace frc {
+struct CANData {
+  uint8_t data[8];
+  int32_t length;
+  uint64_t timestamp;
+};
+
+/**
+ * High level class for interfacing with CAN devices conforming to
+ * the standard CAN spec.
+ *
+ * No packets that can be sent gets blocked by the RoboRIO, so all methods
+ * work identically in all robot modes.
+ *
+ * All methods are thread save, however the buffer objects passed in
+ * by the user need to not be modified for the duration of their calls.
+ */
+class CAN : public ErrorBase {
+ public:
+  /**
+   * Create a new CAN communication interface with the specific device ID.
+   * The device ID is 6 bits (0-63)
+   */
+  explicit CAN(int deviceId);
+
+  /**
+   * Closes the CAN communication.
+   */
+  ~CAN() override;
+
+  /**
+   * 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.
+   */
+  void WritePacket(const uint8_t* data, int length, int apiId);
+
+  /**
+   * 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 repeatMs The period to repeat the packet at.
+   */
+  void WritePacketRepeating(const uint8_t* data, int length, int apiId,
+                            int repeatMs);
+
+  /**
+   * Stop a repeating packet with a specific ID. This ID is 10 bits.
+   *
+   * @param apiId The API ID to stop repeating
+   */
+  void StopPacketRepeating(int apiId);
+
+  /**
+   * Read a new CAN packet. This will only return properly once per packet
+   * received. Multiple calls without receiving another packet will return
+   * false.
+   *
+   * @param apiId The API ID to read.
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketNew(int apiId, CANData* data);
+
+  /**
+   * Read a CAN packet. The will continuously return the last packet received,
+   * without accounting for packet age.
+   *
+   * @param apiId The API ID to read.
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketLatest(int apiId, CANData* data);
+
+  /**
+   * Read a CAN packet. The will return the last packet received until the
+   * packet is older then the requested timeout. Then it will return false.
+   *
+   * @param apiId The API ID to read.
+   * @param timeoutMs The timeout time for the packet
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPacketTimeout(int apiId, int timeoutMs, CANData* data);
+
+  /**
+   * Read a CAN packet. The will return the last packet received until the
+   * packet is older then the requested timeout. Then it will return false. The
+   * period parameter is used when you know the packet is sent at specific
+   * intervals, so calls will not attempt to read a new packet from the network
+   * until that period has passed. We do not recommend users use this API unless
+   * they know the implications.
+   *
+   * @param apiId The API ID to read.
+   * @param timeoutMs The timeout time for the packet
+   * @param periodMs The usual period for the packet
+   * @param data Storage for the received data.
+   * @return True if the data is valid, otherwise false.
+   */
+  bool ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
+                          CANData* data);
+
+  static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
+  static constexpr HAL_CANDeviceType kTeamDeviceType =
+      HAL_CAN_Dev_kMiscellaneous;
+
+ private:
+  HAL_CANHandle m_handle{HAL_kInvalidHandle};
+};
+}  // namespace frc