wpilibc/Athena/include/NetworkCommunication/CANSessionMux.h

// 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__