| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | #pragma GCC diagnostic ignored "-Wmissing-field-initializers"
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| 2 |
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| 3 | #include "ctre/CtreCanNode.h"
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| 4 | #include "FRC_NetworkCommunication/CANSessionMux.h"
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| 5 | #include <string.h> // memset
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| 6 | #include <unistd.h> // usleep
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| 7 |
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| 8 | static const UINT32 kFullMessageIDMask = 0x1fffffff;
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| 9 |
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| 10 | CtreCanNode::CtreCanNode(UINT8 deviceNumber)
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| 11 | {
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| 12 | _deviceNumber = deviceNumber;
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| 13 | }
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| 14 | CtreCanNode::~CtreCanNode()
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| 15 | {
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| 16 | }
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| 17 | void CtreCanNode::RegisterRx(uint32_t arbId)
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| 18 | {
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| 19 | /* no need to do anything, we just use new API to poll last received message */
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| 20 | }
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| 21 | void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
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| 22 | {
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| 23 | int32_t status = 0;
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| 24 |
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| 25 | txJob_t job = {0};
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| 26 | job.arbId = arbId;
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| 27 | job.periodMs = periodMs;
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| 28 | _txJobs[arbId] = job;
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| 29 | FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
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| 30 | job.toSend,
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| 31 | 8,
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| 32 | job.periodMs,
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| 33 | &status);
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| 34 | }
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| 35 | timespec diff(const timespec & start, const timespec & end)
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| 36 | {
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| 37 | timespec temp;
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| 38 | if ((end.tv_nsec-start.tv_nsec)<0) {
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| 39 | temp.tv_sec = end.tv_sec-start.tv_sec-1;
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| 40 | temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
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| 41 | } else {
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| 42 | temp.tv_sec = end.tv_sec-start.tv_sec;
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| 43 | temp.tv_nsec = end.tv_nsec-start.tv_nsec;
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| 44 | }
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| 45 | return temp;
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| 46 | }
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| 47 | CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
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| 48 | {
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| 49 | CTR_Code retval = CTR_OKAY;
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| 50 | int32_t status = 0;
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| 51 | uint8_t len = 0;
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| 52 | uint32_t timeStamp;
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| 53 | /* cap timeout at 999ms */
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| 54 | if(timeoutMs > 999)
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| 55 | timeoutMs = 999;
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| 56 | FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
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| 57 | if(status == 0){
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| 58 | /* fresh update */
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| 59 | rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
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| 60 | clock_gettime(2,&r.time); /* fill in time */
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| 61 | memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
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| 62 | }else{
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| 63 | /* did not get the message */
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| 64 | rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
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| 65 | if(i == _rxRxEvents.end()){
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| 66 | /* we've never gotten this mesage */
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| 67 | retval = CTR_RxTimeout;
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| 68 | /* fill caller's buffer with zeros */
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| 69 | memset(dataBytes,0,8);
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| 70 | }else{
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| 71 | /* we've gotten this message before but not recently */
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| 72 | memcpy(dataBytes,i->second.bytes,8);
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| 73 | /* get the time now */
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| 74 | struct timespec temp;
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| 75 | clock_gettime(2,&temp); /* get now */
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| 76 | /* how long has it been? */
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| 77 | temp = diff(i->second.time,temp); /* temp = now - last */
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| 78 | if(temp.tv_sec > 0){
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| 79 | retval = CTR_RxTimeout;
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| 80 | }else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
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| 81 | retval = CTR_RxTimeout;
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| 82 | }else {
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| 83 | /* our last update was recent enough */
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| 84 | }
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| 85 | }
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| 86 | }
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| 87 |
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| 88 | return retval;
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| 89 | }
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| 90 | void CtreCanNode::FlushTx(uint32_t arbId)
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| 91 | {
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| 92 | int32_t status = 0;
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| 93 | txJobs_t::iterator iter = _txJobs.find(arbId);
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| 94 | if(iter != _txJobs.end())
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| 95 | FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
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| 96 | iter->second.toSend,
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| 97 | 8,
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| 98 | iter->second.periodMs,
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| 99 | &status);
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| 100 | }
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| 101 |
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