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FRC2016-old/Robot2016/wpilib/cpp/current/include/ctre/CtreCanNode.h

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#ifndef CtreCanNode_H_
#define CtreCanNode_H_
#include "ctre.h" //BIT Defines + Typedefs
#include <map>
#include <string.h> // memcpy
#include <sys/time.h>
class CtreCanNode
{
public:
CtreCanNode(UINT8 deviceNumber);
~CtreCanNode();
UINT8 GetDeviceNumber()
{
return _deviceNumber;
}
protected:
template <typename T> class txTask{
public:
uint32_t arbId;
T * toSend;
T * operator -> ()
{
return toSend;
}
T & operator*()
{
return *toSend;
}
bool IsEmpty()
{
if(toSend == 0)
return true;
return false;
}
};
template <typename T> class recMsg{
public:
uint32_t arbId;
uint8_t bytes[8];
CTR_Code err;
T * operator -> ()
{
return (T *)bytes;
}
T & operator*()
{
return *(T *)bytes;
}
};
UINT8 _deviceNumber;
void RegisterRx(uint32_t arbId);
/**
* Schedule a CAN Frame for periodic transmit. Assume eight byte DLC and zero value for initial transmission.
* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
*/
void RegisterTx(uint32_t arbId, uint32_t periodMs);
/**
* Schedule a CAN Frame for periodic transmit.
* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
* @param dlc Number of bytes to transmit (0 to 8).
* @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
* in defaulting to zero data value.
*/
void RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame);
void UnregisterTx(uint32_t arbId);
CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
void FlushTx(uint32_t arbId);
bool ChangeTxPeriod(uint32_t arbId, uint32_t periodMs);
template<typename T> txTask<T> GetTx(uint32_t arbId)
{
txTask<T> retval = {0, nullptr};
txJobs_t::iterator i = _txJobs.find(arbId);
if(i != _txJobs.end()){
retval.arbId = i->second.arbId;
retval.toSend = (T*)i->second.toSend;
}
return retval;
}
template<class T> void FlushTx(T & par)
{
FlushTx(par.arbId);
}
template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
{
recMsg<T> retval;
retval.err = GetRx(arbId,retval.bytes, timeoutMs);
return retval;
}
private:
class txJob_t {
public:
uint32_t arbId;
uint8_t toSend[8];
uint32_t periodMs;
uint8_t dlc;
};
class rxEvent_t{
public:
uint8_t bytes[8];
struct timespec time;
rxEvent_t()
{
bytes[0] = 0;
bytes[1] = 0;
bytes[2] = 0;
bytes[3] = 0;
bytes[4] = 0;
bytes[5] = 0;
bytes[6] = 0;
bytes[7] = 0;
}
};
typedef std::map<uint32_t,txJob_t> txJobs_t;
txJobs_t _txJobs;
typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
rxRxEvents_t _rxRxEvents;
};
#endif