mirror of
https://github.com/wpilibsuite/allwpilib
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9f2f301fa4
The network communication headers were moved to the include directory of the HAL and their copies were removed from wpilibc. Also, symModuleLink.h was removed because the function which it prototypes hasn't been used in WPILib since the roboRIO switch.
83 lines
3.8 KiB
C++
83 lines
3.8 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_IS_FRAME_11BIT 0x40000000
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#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
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#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
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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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#if defined(__linux)
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/**
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* This entry-point of the CANInterfacePlugin returns status of 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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* This function will return detailed hardware status if available for diagnostics of the CAN interface.
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*
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* @param busOffCount The number of times that sendMessage failed with a busOff error indicating that messages
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* are not successfully transmitted on the bus.
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* @param txFullCount The number of times that sendMessage failed with a txFifoFull error indicating that messages
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* are not successfully received by any CAN device.
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* @param receiveErrorCount The count of receive errors as reported by the CAN driver.
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* @param transmitErrorCount The count of transmit errors as reported by the CAN driver.
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* @return This should return 0 if all status was retrieved successfully or an error code if not.
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*/
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virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount, uint32_t &receiveErrorCount, uint32_t &transmitErrorCount) {return 0;}
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#endif
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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_CANSessionMux_registerInterface(CANInterfacePlugin* interface);
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#endif // __CANInterfacePlugin_h__
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