mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
12c4418bda
Added callback scheme for a pass through to something higher level. Since the ID is embedded into the arbitration ID, and some devices can use different schemes whether it is plugged in through a device or put into the daisy chain (pigeonImu), I made one "internal data object" for max reusability.
52 lines
2.3 KiB
C++
52 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2017 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. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "HAL/CAN.h"
|
|
|
|
#include "MockData/CanDataInternal.h"
|
|
|
|
using namespace hal;
|
|
|
|
CanData hal::SimCanData;
|
|
|
|
extern "C" {
|
|
|
|
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
|
|
uint8_t dataSize, int32_t periodMs, int32_t* status) {
|
|
SimCanData.SendMessage(messageID, data, dataSize, periodMs, status);
|
|
}
|
|
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
|
|
uint8_t* data, uint8_t* dataSize,
|
|
uint32_t* timeStamp, int32_t* status) {
|
|
SimCanData.ReceiveMessage(messageID, messageIDMask, data, dataSize, timeStamp,
|
|
status);
|
|
}
|
|
void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
|
|
uint32_t messageIDMask, uint32_t maxMessages,
|
|
int32_t* status) {
|
|
SimCanData.OpenStreamSession(sessionHandle, messageID, messageIDMask,
|
|
maxMessages, status);
|
|
}
|
|
void HAL_CAN_CloseStreamSession(uint32_t sessionHandle) {
|
|
SimCanData.CloseStreamSession(sessionHandle);
|
|
}
|
|
void HAL_CAN_ReadStreamSession(uint32_t sessionHandle,
|
|
struct HAL_CANStreamMessage* messages,
|
|
uint32_t messagesToRead, uint32_t* messagesRead,
|
|
int32_t* status) {
|
|
SimCanData.ReadStreamSession(sessionHandle, messages, messagesToRead,
|
|
messagesRead, status);
|
|
}
|
|
void HAL_CAN_GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
|
|
uint32_t* txFullCount, uint32_t* receiveErrorCount,
|
|
uint32_t* transmitErrorCount, int32_t* status) {
|
|
SimCanData.GetCANStatus(percentBusUtilization, busOffCount, txFullCount,
|
|
receiveErrorCount, transmitErrorCount, status);
|
|
}
|
|
|
|
} // extern "C"
|