allwpilib/wpilibc/wpilibC++Devices/include/ctre/CtreCanNode.h

#ifndef CtreCanNode_H_
#define CtreCanNode_H_
#include "ctre.h"                                //BIT Defines + Typedefs
#include <NetworkCommunication/CANSessionMux.h>  //CAN Comm
#include <pthread.h>
#include <map>
#include <string.h>  // memcpy
#include <sys/time.h>
class CtreCanNode {
 public:
  CtreCanNode(UINT8 deviceNumber);
  ~CtreCanNode();

  UINT8 GetDeviceNumber() { return _deviceNumber; }

 protected:
  template <typename T>
  class txTask {
   public:
    uint32_t arbId;
    T *toSend;
    T *operator->() { return toSend; }
    T &operator*() { return *toSend; }
    bool IsEmpty() {
      if (toSend == 0) return true;
      return false;
    }
  };
  template <typename T>
  class recMsg {
   public:
    uint32_t arbId;
    uint8_t bytes[8];
    CTR_Code err;
    T *operator->() { return (T *)bytes; }
    T &operator*() { return *(T *)bytes; }
  };
  UINT8 _deviceNumber;
  void RegisterRx(uint32_t arbId);
  void RegisterTx(uint32_t arbId, uint32_t periodMs);

  CTR_Code GetRx(uint32_t arbId, uint8_t *dataBytes, uint32_t timeoutMs);
  void FlushTx(uint32_t arbId);

  template <typename T>
  txTask<T> GetTx(uint32_t arbId) {
    txTask<T> retval = {0};
    txJobs_t::iterator i = _txJobs.find(arbId);
    if (i != _txJobs.end()) {
      retval.arbId = i->second.arbId;
      retval.toSend = (T *)i->second.toSend;
    }
    return retval;
  }
  template <class T>
  void FlushTx(T &par) {
    FlushTx(par.arbId);
  }

  template <class T>
  recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs) {
    recMsg<T> retval;
    retval.err = GetRx(arbId, retval.bytes, timeoutMs);
    return retval;
  }

 private:
  class txJob_t {
   public:
    uint32_t arbId;
    uint8_t toSend[8];
    uint32_t periodMs;
  };

  class rxEvent_t {
   public:
    uint8_t bytes[8];
    struct timespec time;
    rxEvent_t() {
      bytes[0] = 0;
      bytes[1] = 0;
      bytes[2] = 0;
      bytes[3] = 0;
      bytes[4] = 0;
      bytes[5] = 0;
      bytes[6] = 0;
      bytes[7] = 0;
    }
  };

  typedef std::map<uint32_t, txJob_t> txJobs_t;
  txJobs_t _txJobs;

  typedef std::map<uint32_t, rxEvent_t> rxRxEvents_t;
  rxRxEvents_t _rxRxEvents;
};
#endif