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

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This commit is contained in:
Thad House
2020-08-29 23:07:22 -07:00
committed by GitHub
parent 7c99224bb7
commit ed18693345
5 changed files with 147 additions and 2 deletions
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21
wpilibc/src/main/native/cpp/CAN.cpp
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@@ -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);

32
wpilibc/src/main/native/include/frc/CAN.h
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@@ -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.
*