| Brian Silverman | 8fce748 | 2020-01-05 13:18:21 -0800 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "frc/CAN.h" |
| 9 | |
| 10 | #include <utility> |
| 11 | |
| 12 | #include <hal/CAN.h> |
| 13 | #include <hal/CANAPI.h> |
| 14 | #include <hal/Errors.h> |
| 15 | #include <hal/FRCUsageReporting.h> |
| 16 | |
| 17 | using namespace frc; |
| 18 | |
| 19 | CAN::CAN(int deviceId) { |
| 20 | int32_t status = 0; |
| 21 | m_handle = |
| 22 | HAL_InitializeCAN(kTeamManufacturer, deviceId, kTeamDeviceType, &status); |
| 23 | if (status != 0) { |
| 24 | wpi_setHALError(status); |
| 25 | m_handle = HAL_kInvalidHandle; |
| 26 | return; |
| 27 | } |
| 28 | |
| 29 | HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId + 1); |
| 30 | } |
| 31 | |
| 32 | CAN::CAN(int deviceId, int deviceManufacturer, int deviceType) { |
| 33 | int32_t status = 0; |
| 34 | m_handle = HAL_InitializeCAN( |
| 35 | static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId, |
| 36 | static_cast<HAL_CANDeviceType>(deviceType), &status); |
| 37 | if (status != 0) { |
| 38 | wpi_setHALError(status); |
| 39 | m_handle = HAL_kInvalidHandle; |
| 40 | return; |
| 41 | } |
| 42 | |
| 43 | HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId + 1); |
| 44 | } |
| 45 | |
| 46 | CAN::~CAN() { |
| 47 | if (StatusIsFatal()) return; |
| 48 | if (m_handle != HAL_kInvalidHandle) { |
| 49 | HAL_CleanCAN(m_handle); |
| 50 | m_handle = HAL_kInvalidHandle; |
| 51 | } |
| 52 | } |
| 53 | |
| 54 | void CAN::WritePacket(const uint8_t* data, int length, int apiId) { |
| 55 | int32_t status = 0; |
| 56 | HAL_WriteCANPacket(m_handle, data, length, apiId, &status); |
| 57 | wpi_setHALError(status); |
| 58 | } |
| 59 | |
| 60 | void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId, |
| 61 | int repeatMs) { |
| 62 | int32_t status = 0; |
| 63 | HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status); |
| 64 | wpi_setHALError(status); |
| 65 | } |
| 66 | |
| 67 | void CAN::WriteRTRFrame(int length, int apiId) { |
| 68 | int32_t status = 0; |
| 69 | HAL_WriteCANRTRFrame(m_handle, length, apiId, &status); |
| 70 | wpi_setHALError(status); |
| 71 | } |
| 72 | |
| 73 | void CAN::StopPacketRepeating(int apiId) { |
| 74 | int32_t status = 0; |
| 75 | HAL_StopCANPacketRepeating(m_handle, apiId, &status); |
| 76 | wpi_setHALError(status); |
| 77 | } |
| 78 | |
| 79 | bool CAN::ReadPacketNew(int apiId, CANData* data) { |
| 80 | int32_t status = 0; |
| 81 | HAL_ReadCANPacketNew(m_handle, apiId, data->data, &data->length, |
| 82 | &data->timestamp, &status); |
| 83 | if (status == HAL_ERR_CANSessionMux_MessageNotFound) { |
| 84 | return false; |
| 85 | } |
| 86 | if (status != 0) { |
| 87 | wpi_setHALError(status); |
| 88 | return false; |
| 89 | } else { |
| 90 | return true; |
| 91 | } |
| 92 | } |
| 93 | |
| 94 | bool CAN::ReadPacketLatest(int apiId, CANData* data) { |
| 95 | int32_t status = 0; |
| 96 | HAL_ReadCANPacketLatest(m_handle, apiId, data->data, &data->length, |
| 97 | &data->timestamp, &status); |
| 98 | if (status == HAL_ERR_CANSessionMux_MessageNotFound) { |
| 99 | return false; |
| 100 | } |
| 101 | if (status != 0) { |
| 102 | wpi_setHALError(status); |
| 103 | return false; |
| 104 | } else { |
| 105 | return true; |
| 106 | } |
| 107 | } |
| 108 | |
| 109 | bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) { |
| 110 | int32_t status = 0; |
| 111 | HAL_ReadCANPacketTimeout(m_handle, apiId, data->data, &data->length, |
| 112 | &data->timestamp, timeoutMs, &status); |
| 113 | if (status == HAL_CAN_TIMEOUT || |
| 114 | status == HAL_ERR_CANSessionMux_MessageNotFound) { |
| 115 | return false; |
| 116 | } |
| 117 | if (status != 0) { |
| 118 | wpi_setHALError(status); |
| 119 | return false; |
| 120 | } else { |
| 121 | return true; |
| 122 | } |
| 123 | } |