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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
62 lines
2.5 KiB
C++
62 lines
2.5 KiB
C++
// CANInterfacePlugin.h
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//
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// Defines the API for building a CAN Interface Plugin to support
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// PWM-cable-free CAN motor control on FRC robots. This allows you
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// to connect any CAN interface to the secure Jaguar CAN driver.
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//
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#ifndef __CANInterfacePlugin_h__
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#define __CANInterfacePlugin_h__
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#include <stdint.h>
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#define CAN_IS_FRAME_REMOTE 0x80000000
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#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
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class CANInterfacePlugin
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{
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public:
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CANInterfacePlugin() {}
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virtual ~CANInterfacePlugin() {}
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/**
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* This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
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* a device on the CAN bus.
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*
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* This function may be called from multiple contexts and must therefore be reentrant.
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*
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* @param messageID The 29-bit CAN message ID in the lsbs. The msb can indicate a remote frame.
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* @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message. May be NULL if dataSize is 0.
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* @param dataSize The number of bytes to send with the message.
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* @return Return any error code. On success return 0.
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*/
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virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
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/**
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* This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
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* any received messages from devices on the CAN bus.
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*
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* This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
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*
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* This function is expected to block for some period of time waiting for a message from the CAN bus.
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* It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
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* shutdown and unloading of the plugin.
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*
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* @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
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* @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
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* @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
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* @return This should return 0 if a message was populated, non-0 if no message was not populated.
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*/
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virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
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};
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/**
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* This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
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*
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* @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
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* the pure virtual interface. If NULL, unregister the current plugin.
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*/
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void FRC_NetworkCommunication_JaguarCANDriver_registerInterface(CANInterfacePlugin* interface);
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#endif // __CANInterfacePlugin_h__
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