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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
57 lines
2.3 KiB
C++
57 lines
2.3 KiB
C++
// JaguarCANDriver.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 __JaguarCANDriver_h__
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#define __JaguarCANDriver_h__
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#if defined(__vxworks)
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#include <vxWorks.h>
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#else
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#include <stdint.h>
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#include <pthread.h>
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#endif
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#ifdef USE_THRIFT
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#include "NetCommRPCComm.h"
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#include <vector>
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#endif
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namespace nJaguarCANDriver
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{
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void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
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void receiveMessage_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
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int32_t receiveMessageStart_wrapper(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
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#if defined (__vxworks)
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int32_t receiveMessageStart_sem_wrapper(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
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#else
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int32_t receiveMessageStart_mutex_wrapper(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
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#endif
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void receiveMessageComplete_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
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#ifdef USE_THRIFT
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void checkEvent_CAN(std::vector< CANEvent >& events);
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#endif
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}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
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#if defined (__vxworks)
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
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#else
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int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
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#endif
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void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
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#ifdef __cplusplus
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}
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#endif
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#endif // __JaguarCANDriver_h__
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