/* Reset Energy Signals
* @Return - CTR_Code - Error code (if any)
*/
CTR_Code PDP::ResetEnergy()
{
int32_t status = 0;
uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1 | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
if(status)
return CTR_TxFailed;
return CTR_OKAY;
}
void CtreCanNode::FlushTx(uint32_t arbId)
{
int32_t status = 0;
txJobs_t::iterator iter = _txJobs.find(arbId);
if(iter != _txJobs.end())
FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
iter->second.toSend,
iter->second.dlc,
iter->second.periodMs,
&status);
}
/**
* Change the transmit period of an already scheduled CAN frame.
* This keeps the frame payload contents the same without caller having to perform
* a read-modify-write.
* @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.
* @return true if scheduled job was found and updated, false if there was no preceding job for the specified arbID.
*/
bool CtreCanNode::ChangeTxPeriod(uint32_t arbId, uint32_t periodMs)
{
int32_t status = 0;
/* lookup the data bytes and period for this message */
txJobs_t::iterator iter = _txJobs.find(arbId);
if(iter != _txJobs.end()) {
/* modify th periodMs */
iter->second.periodMs = periodMs;
/* reinsert into scheduler with the same data bytes, only the period changed. */
FRC_NetworkCommunication_CANSessionMux_sendMessage( iter->second.arbId,
iter->second.toSend,
iter->second.dlc,
iter->second.periodMs,
&status);
return true;
}
return false;
}
/**
* 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 CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame)
{
int32_t status = 0;
if(dlc > 8)
dlc = 8;
txJob_t job = {0};
job.arbId = arbId;
job.periodMs = periodMs;
job.dlc = dlc;
if(initialFrame){
/* caller wants to specify original data */
memcpy(job.toSend, initialFrame, dlc);
}
_txJobs[arbId] = job;
FRC_NetworkCommunication_CANSessionMux_sendMessage( job.arbId,
job.toSend,
job.dlc,
job.periodMs,
&status);
}
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
* Signature: (ILjava/nio/ByteBuffer;I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
uint8_t *dataBuffer = (uint8_t *)(data? env->GetDirectBufferAddress(data) : 0);
uint8_t dataSize = (uint8_t)(data? env->GetDirectBufferCapacity(data) : 0);
CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << messageID;
if(logDEBUG <= canJNILogLevel)
{
if(dataBuffer)
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for(int i = 0; i < dataSize; i++)
{
str << std::setw(2) << (int)dataBuffer[i] << ' ';
}
Log().Get(logDEBUG) << "Data: " << str.str();
}
else
{
CANJNI_LOG(logDEBUG) << "Data: null";
}
}
CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
int32_t status = 0;
FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
}
void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t periodMs, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, data, dataSize,
periodMs, status);
}
