/**
* Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
*
* Trusted messages require a 2-byte token at the beginning of the data payload.
* If the message being sent is trusted, make space for the token.
*
* @param messageID The messageID to be used on the CAN bus
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
* @return Status of send call
*/
int32_t CANJaguar::sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize)
{
static constexpr uint32_t kTrustedMessages[] = {
LM_API_VOLT_T_EN, LM_API_VOLT_T_SET, LM_API_SPD_T_EN, LM_API_SPD_T_SET,
LM_API_VCOMP_T_EN, LM_API_VCOMP_T_SET, LM_API_POS_T_EN, LM_API_POS_T_SET,
LM_API_ICTRL_T_EN, LM_API_ICTRL_T_SET};
int32_t status=0;
for (uint8_t i=0; i<(sizeof(kTrustedMessages)/sizeof(kTrustedMessages[0])); i++)
{
if ((kFullMessageIDMask & messageID) == kTrustedMessages[i])
{
uint8_t dataBuffer[8];
dataBuffer[0] = 0;
dataBuffer[1] = 0;
// Make sure the data will still fit after adjusting for the token.
if (dataSize > 6)
{
// TODO: I would rather this not have to set the global error
wpi_setGlobalWPIErrorWithContext(ParameterOutOfRange, "dataSize > 6");
return 0;
}
for (uint8_t j=0; j < dataSize; j++)
{
dataBuffer[j + 2] = data[j];
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, dataBuffer, dataSize + 2, &status);
return status;
}
}
FRC_NetworkCommunication_JaguarCANDriver_sendMessage(messageID, data, dataSize, &status);
return status;
}
/**
* Maps the specified key (where the key is the name of the {@link
* SmartDashboardNamedData}
* to the specified value in this table.
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
* @param value the value
*/
void SmartDashboard::PutData(NamedSendable *value) {
if (value == nullptr) {
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
}
PutData(value->GetName(), value);
}
/**
* Returns the value at the specified key.
* @param keyName the key
* @return the value
*/
Sendable *SmartDashboard::GetData(llvm::StringRef key) {
std::shared_ptr<ITable> subtable(m_table->GetSubTable(key));
Sendable *data = m_tablesToData[subtable];
if (data == nullptr) {
wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
return nullptr;
}
return data;
}
/**
* Maps the specified key to the specified value in this table.
* The key can not be nullptr.
* The value can be retrieved by calling the get method with a key that is equal
* to the original key.
* @param keyName the key
* @param value the value
*/
void SmartDashboard::PutData(llvm::StringRef key, Sendable *data) {
if (data == nullptr) {
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
}
std::shared_ptr<ITable> dataTable(m_table->GetSubTable(key));
dataTable->PutString("~TYPE~", data->GetSmartDashboardType());
data->InitTable(dataTable);
m_tablesToData[dataTable] = data;
}
/**
* Get an instance of an Analog Module.
*
* Singleton analog module creation where a module is allocated on the first use
* and the same module is returned on subsequent uses.
*
* @param moduleNumber The analog module to get (1 or 2).
* @return A pointer to the AnalogModule.
*/
AnalogModule* AnalogModule::GetInstance(UINT8 moduleNumber)
{
if (CheckAnalogModule(moduleNumber))
{
return (AnalogModule*)GetModule(nLoadOut::kModuleType_Analog, moduleNumber);
}
// If this wasn't caught before now, make sure we say what's wrong before we crash
char buf[64];
snprintf(buf, 64, "Analog Module %d", moduleNumber);
wpi_setGlobalWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return NULL;
}
/**
* Get an instance of an Digital Module.
* Singleton digital module creation where a module is allocated on the first use
* and the same module is returned on subsequent uses.
*
* @param moduleNumber The digital module to get (1 or 2).
*/
DigitalModule* DigitalModule::GetInstance(uint8_t moduleNumber)
{
if (CheckDigitalModule(moduleNumber))
{
return (DigitalModule *)GetModule(nLoadOut::kModuleType_Digital, moduleNumber);
}
// If this wasn't caught before now, make sure we say what's wrong before we crash
char buf[64];
sprintf(buf, "Digital Module %d", moduleNumber);
wpi_setGlobalWPIErrorWithContext(ModuleIndexOutOfRange, buf);
return NULL;
}
