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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
163
hal/src/main/native/athena/ctre/CtreCanNode.cpp
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163
hal/src/main/native/athena/ctre/CtreCanNode.cpp
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@@ -0,0 +1,163 @@
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#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
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#include "ctre/CtreCanNode.h"
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#include "FRC_NetworkCommunication/CANSessionMux.h"
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#include <string.h> // memset
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static const UINT32 kFullMessageIDMask = 0x1fffffff;
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CtreCanNode::CtreCanNode(UINT8 deviceNumber)
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{
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_deviceNumber = deviceNumber;
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}
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CtreCanNode::~CtreCanNode()
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{
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}
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void CtreCanNode::RegisterRx(uint32_t arbId)
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{
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/* no need to do anything, we just use new API to poll last received message */
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}
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/**
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* Schedule a CAN Frame for periodic transmit.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
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* @param dlc Number of bytes to transmit (0 to 8).
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* @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
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* in defaulting to zero data value.
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*/
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void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame)
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{
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int32_t status = 0;
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if(dlc > 8)
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dlc = 8;
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txJob_t job = {0};
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job.arbId = arbId;
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job.periodMs = periodMs;
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job.dlc = dlc;
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if(initialFrame){
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/* caller wants to specify original data */
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memcpy(job.toSend, initialFrame, dlc);
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}
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_txJobs[arbId] = job;
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FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
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job.toSend,
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job.dlc,
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job.periodMs,
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&status);
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}
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/**
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* Schedule a CAN Frame for periodic transmit. Assume eight byte DLC and zero value for initial transmission.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
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*/
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void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
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{
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RegisterTx(arbId,periodMs, 8, 0);
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}
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/**
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* Remove a CAN frame Arbid to stop transmission.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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*/
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void CtreCanNode::UnregisterTx(uint32_t arbId)
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{
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/* set period to zero */
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ChangeTxPeriod(arbId, 0);
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/* look and remove */
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txJobs_t::iterator iter = _txJobs.find(arbId);
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if(iter != _txJobs.end()) {
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_txJobs.erase(iter);
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}
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}
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timespec diff(const timespec & start, const timespec & end)
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{
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timespec temp;
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if ((end.tv_nsec-start.tv_nsec)<0) {
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temp.tv_sec = end.tv_sec-start.tv_sec-1;
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temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
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} else {
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temp.tv_sec = end.tv_sec-start.tv_sec;
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temp.tv_nsec = end.tv_nsec-start.tv_nsec;
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}
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return temp;
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}
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CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
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{
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CTR_Code retval = CTR_OKAY;
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int32_t status = 0;
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uint8_t len = 0;
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uint32_t timeStamp;
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/* cap timeout at 999ms */
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if(timeoutMs > 999)
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timeoutMs = 999;
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FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
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if(status == 0){
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/* fresh update */
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rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
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clock_gettime(2,&r.time); /* fill in time */
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memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
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}else{
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/* did not get the message */
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rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
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if(i == _rxRxEvents.end()){
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/* we've never gotten this mesage */
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retval = CTR_RxTimeout;
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/* fill caller's buffer with zeros */
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memset(dataBytes,0,8);
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}else{
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/* we've gotten this message before but not recently */
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memcpy(dataBytes,i->second.bytes,8);
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/* get the time now */
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struct timespec temp;
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clock_gettime(2,&temp); /* get now */
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/* how long has it been? */
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temp = diff(i->second.time,temp); /* temp = now - last */
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if(temp.tv_sec > 0){
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retval = CTR_RxTimeout;
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}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
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retval = CTR_RxTimeout;
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}else {
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/* our last update was recent enough */
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}
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}
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}
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return retval;
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}
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void CtreCanNode::FlushTx(uint32_t arbId)
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{
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int32_t status = 0;
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txJobs_t::iterator iter = _txJobs.find(arbId);
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if(iter != _txJobs.end())
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FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
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iter->second.toSend,
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iter->second.dlc,
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iter->second.periodMs,
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&status);
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}
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/**
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* Change the transmit period of an already scheduled CAN frame.
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* This keeps the frame payload contents the same without caller having to perform
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* a read-modify-write.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
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* @return true if scheduled job was found and updated, false if there was no preceding job for the specified arbID.
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*/
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bool CtreCanNode::ChangeTxPeriod(uint32_t arbId, uint32_t periodMs)
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{
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int32_t status = 0;
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/* lookup the data bytes and period for this message */
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txJobs_t::iterator iter = _txJobs.find(arbId);
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if(iter != _txJobs.end()) {
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/* modify th periodMs */
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iter->second.periodMs = periodMs;
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/* reinsert into scheduler with the same data bytes, only the period changed. */
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FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
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iter->second.toSend,
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iter->second.dlc,
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iter->second.periodMs,
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&status);
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return true;
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}
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return false;
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}
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