This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/DriveBase/wpilib/cpp/current/include/NetworkCommunication/CANInterfacePlugin.h

110 lines
4.0 KiB
C
Raw Normal View History

2016-01-28 11:33:19 -05:00
// CANInterfacePlugin.h
//
// Defines the API for building a CAN Interface Plugin to support
// PWM-cable-free CAN motor control on FRC robots. This allows you
// to connect any CAN interface to the secure Jaguar CAN driver.
//
#ifndef __CANInterfacePlugin_h__
#define __CANInterfacePlugin_h__
#include <stdint.h>
#define CAN_IS_FRAME_REMOTE 0x80000000
#define CAN_IS_FRAME_11BIT 0x40000000
#define CAN_29BIT_MESSAGE_ID_MASK 0x1FFFFFFF
#define CAN_11BIT_MESSAGE_ID_MASK 0x000007FF
class CANInterfacePlugin {
public:
CANInterfacePlugin() {}
virtual ~CANInterfacePlugin() {}
/**
* This entry-point of the CANInterfacePlugin is passed a message that the
* driver needs to send to
* a device on the CAN bus.
*
* This function may be called from multiple contexts and must therefore be
* reentrant.
*
* @param messageID The 29-bit CAN message ID in the lsbs. The msb can
* indicate a remote frame.
* @param data A pointer to a buffer containing between 0 and 8 bytes to send
* with the message. May be nullptr if dataSize is 0.
* @param dataSize The number of bytes to send with the message.
* @return Return any error code. On success return 0.
*/
virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data,
uint8_t dataSize) = 0;
/**
* This entry-point of the CANInterfacePlugin is passed buffers which should
* be populated with
* any received messages from devices on the CAN bus.
*
* This function is always called by a single task in the Jaguar driver, so it
* need not be reentrant.
*
* This function is expected to block for some period of time waiting for a
* message from the CAN bus.
* It may timeout periodically (returning non-zero to indicate no message was
* populated) to allow for
* shutdown and unloading of the plugin.
*
* @param messageID A reference to be populated with a received 29-bit CAN
* message ID in the lsbs.
* @param data A pointer to a buffer of 8 bytes to be populated with data
* received with the message.
* @param dataSize A reference to be populated with the size of the data
* received (0 - 8 bytes).
* @return This should return 0 if a message was populated, non-0 if no
* message was not populated.
*/
virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data,
uint8_t &dataSize) = 0;
#if defined(__linux)
/**
* This entry-point of the CANInterfacePlugin returns status of the CAN bus.
*
* This function may be called from multiple contexts and must therefore be
* reentrant.
*
* This function will return detailed hardware status if available for
* diagnostics of the CAN interface.
*
* @param busOffCount The number of times that sendMessage failed with a
* busOff error indicating that messages
* are not successfully transmitted on the bus.
* @param txFullCount The number of times that sendMessage failed with a
* txFifoFull error indicating that messages
* are not successfully received by any CAN device.
* @param receiveErrorCount The count of receive errors as reported by the CAN
* driver.
* @param transmitErrorCount The count of transmit errors as reported by the
* CAN driver.
* @return This should return 0 if all status was retrieved successfully or an
* error code if not.
*/
virtual int32_t getStatus(uint32_t &busOffCount, uint32_t &txFullCount,
uint32_t &receiveErrorCount,
uint32_t &transmitErrorCount) {
return 0;
}
#endif
};
/**
* This function allows you to register a CANInterfacePlugin to provide access a
* CAN bus.
*
* @param interface A pointer to an object that inherits from CANInterfacePlugin
* and implements
* the pure virtual interface. If nullptr, unregister the current plugin.
*/
void FRC_NetworkCommunication_CANSessionMux_registerInterface(
CANInterfacePlugin *interface);
#endif // __CANInterfacePlugin_h__