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28a41e4ac2
Currently, the JNI bindings are generated by Swig and, unfortunately, the interface available through Java is lower-level than that for C++ (ie, direct access to the ctre code through the JNI bindings, rather than an interface on top of that), but it does work. See eclipse plugins for some short samples. There are a couple of short unit tests as placeholders. Still needs some cleaning up. Change-Id: Iae2f74693ca6b80bf7d5aca0625c66aa6e0b7f85 Added quick samples for C++/Java CAN Talon stuff. Change-Id: I3acb27d6fd5568d88931e0d678c09973d436735d
117 lines
2.2 KiB
C++
117 lines
2.2 KiB
C++
#ifndef CtreCanNode_H_
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#define CtreCanNode_H_
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#include "ctre.h" //BIT Defines + Typedefs
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#include <NetworkCommunication/CANSessionMux.h> //CAN Comm
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#include <pthread.h>
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#include <map>
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#include <string.h> // memcpy
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#include <sys/time.h>
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class CtreCanNode
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{
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public:
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CtreCanNode(UINT8 deviceNumber);
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~CtreCanNode();
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UINT8 GetDeviceNumber()
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{
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return _deviceNumber;
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}
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protected:
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template <typename T> class txTask{
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public:
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uint32_t arbId;
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T * toSend;
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T * operator -> ()
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{
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return toSend;
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}
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T & operator*()
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{
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return *toSend;
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}
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bool IsEmpty()
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{
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if(toSend == 0)
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return true;
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return false;
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}
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};
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template <typename T> class recMsg{
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public:
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uint32_t arbId;
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uint8_t bytes[8];
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CTR_Code err;
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T * operator -> ()
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{
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return (T *)bytes;
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}
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T & operator*()
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{
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return *(T *)bytes;
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}
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};
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UINT8 _deviceNumber;
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void RegisterRx(uint32_t arbId);
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void RegisterTx(uint32_t arbId, uint32_t periodMs);
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CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
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void FlushTx(uint32_t arbId);
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template<typename T> txTask<T> GetTx(uint32_t arbId)
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{
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txTask<T> retval = {0};
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txJobs_t::iterator i = _txJobs.find(arbId);
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if(i != _txJobs.end()){
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retval.arbId = i->second.arbId;
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retval.toSend = (T*)i->second.toSend;
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}
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return retval;
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}
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template<class T> void FlushTx(T & par)
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{
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FlushTx(par.arbId);
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}
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template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
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{
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recMsg<T> retval;
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retval.err = GetRx(arbId,retval.bytes, timeoutMs);
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return retval;
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}
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private:
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class txJob_t {
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public:
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uint32_t arbId;
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uint8_t toSend[8];
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uint32_t periodMs;
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};
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class rxEvent_t{
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public:
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uint8_t bytes[8];
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struct timespec time;
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rxEvent_t()
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{
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bytes[0] = 0;
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bytes[1] = 0;
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bytes[2] = 0;
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bytes[3] = 0;
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bytes[4] = 0;
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bytes[5] = 0;
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bytes[6] = 0;
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bytes[7] = 0;
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}
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};
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typedef std::map<uint32_t,txJob_t> txJobs_t;
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txJobs_t _txJobs;
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typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
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rxRxEvents_t _rxRxEvents;
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};
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#endif
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