[hal] Add no throw/error version of CAN Write methods (#2063)

hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java

@@ -20,6 +20,13 @@ public class CANAPIJNI extends JNIWrapper {
 
   public static native void writeCANRTRFrame(int handle, int length, int apiId);
 
+  public static native int writeCANPacketNoThrow(int handle, byte[] data, int apiId);
+
+  public static native int writeCANPacketRepeatingNoThrow(int handle, byte[] data, int apiId,
+                                                         int repeatMs);
+
+  public static native int writeCANRTRFrameNoThrow(int handle, int length, int apiId);
+
   public static native void stopCANPacketRepeating(int handle, int apiId);
 
   public static native boolean readCANPacketNew(int handle, int apiId, CANData data);

hal/src/main/native/cpp/jni/CANAPIJNI.cpp

@@ -107,6 +107,59 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANRTRFrame
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_CANAPIJNI
+ * Method:    writeCANPacketNoThrow
+ * Signature: (I[BI)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketNoThrow
+  (JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  JByteArrayRef arr{env, data};
+  auto arrRef = arr.array();
+  int32_t status = 0;
+  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
+                     arrRef.size(), apiId, &status);
+  return status;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CANAPIJNI
+ * Method:    writeCANPacketRepeatingNoThrow
+ * Signature: (I[BII)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeatingNoThrow
+  (JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId,
+   jint timeoutMs)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  JByteArrayRef arr{env, data};
+  auto arrRef = arr.array();
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(halHandle,
+                              reinterpret_cast<const uint8_t*>(arrRef.data()),
+                              arrRef.size(), apiId, timeoutMs, &status);
+  return status;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_CANAPIJNI
+ * Method:    writeCANRTRFrameNoThrow
+ * Signature: (III)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_writeCANRTRFrameNoThrow
+  (JNIEnv* env, jclass, jint handle, jint length, jint apiId)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(halHandle, static_cast<int32_t>(length), apiId, &status);
+  return status;
+}
+
 /*
  * Class:     edu_wpi_first_hal_CANAPIJNI
  * Method:    stopCANPacketRepeating

wpilibc/src/main/native/cpp/CAN.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 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.                                                               */
@@ -70,6 +70,25 @@ void CAN::WriteRTRFrame(int length, int apiId) {
   wpi_setHALError(status);
 }
 
+int CAN::WritePacketNoError(const uint8_t* data, int length, int apiId) {
+  int32_t status = 0;
+  HAL_WriteCANPacket(m_handle, data, length, apiId, &status);
+  return status;
+}
+
+int CAN::WritePacketRepeatingNoError(const uint8_t* data, int length, int apiId,
+                                     int repeatMs) {
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status);
+  return status;
+}
+
+int CAN::WriteRTRFrameNoError(int length, int apiId) {
+  int32_t status = 0;
+  HAL_WriteCANRTRFrame(m_handle, length, apiId, &status);
+  return status;
+}
+
 void CAN::StopPacketRepeating(int apiId) {
   int32_t status = 0;
   HAL_StopCANPacketRepeating(m_handle, apiId, &status);

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

@@ -93,6 +93,38 @@ class CAN : public ErrorBase {
    */
   void WriteRTRFrame(int length, int apiId);
 
+  /**
+   * 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.
+   */
+  int WritePacketNoError(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.
+   */
+  int WritePacketRepeatingNoError(const uint8_t* data, int length, int apiId,
+                                  int repeatMs);
+
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10
+   * bits. The length by spec must match what is returned by the responding
+   * device
+   *
+   * @param length The length to request (0 to 8)
+   * @param apiId The API ID to write.
+   */
+  int WriteRTRFrameNoError(int length, int apiId);
+
   /**
    * Stop a repeating packet with a specific ID. This ID is 10 bits.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 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.                                                               */
@@ -25,6 +25,7 @@ import edu.wpi.first.hal.HAL;
  * read methods and the byte[] passed into the write methods need to not
  * be modified for the duration of their respective calls.
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public class CAN implements Closeable {
   public static final int kTeamManufacturer = 8;
   public static final int kTeamDeviceType = 10;
@@ -100,6 +101,39 @@ public class CAN implements Closeable {
     CANAPIJNI.writeCANRTRFrame(m_handle, length, apiId);
   }
 
+  /**
+   * 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 apiId The API ID to write.
+   */
+  public int writePacketNoThrow(byte[] data, int apiId) {
+    return CANAPIJNI.writeCANPacketNoThrow(m_handle, data, 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 apiId The API ID to write.
+   * @param repeatMs The period to repeat the packet at.
+   */
+  public int writePacketRepeatingNoThrow(byte[] data, int apiId, int repeatMs) {
+    return CANAPIJNI.writeCANPacketRepeatingNoThrow(m_handle, data, apiId, repeatMs);
+  }
+
+  /**
+   * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits.
+   * The length by spec must match what is returned by the responding device
+   *
+   * @param length The length to request (0 to 8)
+   * @param apiId The API ID to write.
+   */
+  public int writeRTRFrameNoThrow(int length, int apiId) {
+    return CANAPIJNI.writeCANRTRFrameNoThrow(m_handle, length, apiId);
+  }
+
   /**
    * Stop a repeating packet with a specific ID. This ID is 10 bits.
    *