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FRC2016-old/wpilib/cpp/current/include/NetworkCommunication/CANSessionMux.h

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2016-01-28 11:33:19 -05:00
// CANSessionMux.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 __CANSessionMux_h__
#define __CANSessionMux_h__
#include <stdint.h>
#define CAN_SEND_PERIOD_NO_REPEAT 0
#define CAN_SEND_PERIOD_STOP_REPEATING -1
/* Flags in the upper bits of the messageID */
#define CAN_IS_FRAME_REMOTE 0x80000000
#define CAN_IS_FRAME_11BIT 0x40000000
#define ERR_CANSessionMux_InvalidBuffer -44086
#define ERR_CANSessionMux_MessageNotFound -44087
#define WARN_CANSessionMux_NoToken 44087
#define ERR_CANSessionMux_NotAllowed -44088
#define ERR_CANSessionMux_NotInitialized -44089
#define ERR_CANSessionMux_SessionOverrun 44050
struct tCANStreamMessage {
uint32_t messageID;
uint32_t timeStamp;
uint8_t data[8];
uint8_t dataSize;
};
namespace nCANSessionMux {
void sendMessage_wrapper(uint32_t messageID, const uint8_t *data,
uint8_t dataSize, int32_t periodMs, int32_t *status);
void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask,
uint8_t *data, uint8_t *dataSize,
uint32_t *timeStamp, int32_t *status);
void openStreamSession(uint32_t *sessionHandle, uint32_t messageID,
uint32_t messageIDMask, uint32_t maxMessages,
int32_t *status);
void closeStreamSession(uint32_t sessionHandle);
void readStreamSession(uint32_t sessionHandle,
struct tCANStreamMessage *messages,
uint32_t messagesToRead, uint32_t *messagesRead,
int32_t *status);
void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount,
uint32_t *txFullCount, uint32_t *receiveErrorCount,
uint32_t *transmitErrorCount, int32_t *status);
}
#ifdef __cplusplus
extern "C" {
#endif
void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID,
const uint8_t *data,
uint8_t dataSize,
int32_t periodMs,
int32_t *status);
void FRC_NetworkCommunication_CANSessionMux_receiveMessage(
uint32_t *messageID, uint32_t messageIDMask, uint8_t *data,
uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
void FRC_NetworkCommunication_CANSessionMux_openStreamSession(
uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask,
uint32_t maxMessages, int32_t *status);
void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(
uint32_t sessionHandle);
void FRC_NetworkCommunication_CANSessionMux_readStreamSession(
uint32_t sessionHandle, struct tCANStreamMessage *messages,
uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
void FRC_NetworkCommunication_CANSessionMux_getCANStatus(
float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount,
uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
#ifdef __cplusplus
}
#endif
#endif // __CANSessionMux_h__