java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.CANAPIJNI

public class CANAPIJNI extends JNIWrapper

CAN API HAL JNI Functions.

See Also:

"hal/CANAPI.h"

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper
JNIWrapper.Helper
Method Summary

Modifier and Type

Method

Description

static void

cleanCAN(int handle)

Frees a CAN device.

static int

initializeCAN(int busId, int manufacturer, int deviceId, int deviceType)

Initializes a CAN device.

static boolean

readCANPacketLatest(int handle, int apiId, CANReceiveMessage data)

Reads a CAN packet.

static boolean

readCANPacketNew(int handle, int apiId, CANReceiveMessage data)

Reads a new CAN packet.

static boolean

readCANPacketTimeout(int handle, int apiId, CANReceiveMessage data, int timeoutMs)

Reads a CAN packet.

static void

stopCANPacketRepeating(int handle, int apiId)

Stops a repeating packet with a specific ID.

static void

writeCANPacket(int handle, int apiId, byte[] data, int dataLength, int flags)

Writes a packet to the CAN device with a specific ID.

static int

writeCANPacketNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags)

Writes a packet to the CAN device with a specific ID without throwing on error.

static void

writeCANPacketRepeating(int handle, int apiId, byte[] data, int dataLength, int flags, int repeatMs)

Writes a repeating packet to the CAN device with a specific ID.

static int

writeCANPacketRepeatingNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags, int repeatMs)

Writes a repeating packet to the CAN device with a specific ID without throwing on error.

static void

writeCANRTRFrame(int handle, int apiId, byte[] data, int dataLength, int flags)

Writes an RTR frame of the specified length to the CAN device with the specific ID.

static int

writeCANRTRFrameNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags)

Writes an RTR frame of the specified length to the CAN device with the specific ID without throwing on error.

Methods inherited from class edu.wpi.first.hal.JNIWrapper
forceLoad, suppressUnused

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details
- initializeCAN
  
  public static int initializeCAN(int busId, int manufacturer, int deviceId, int deviceType)
  
  Initializes a CAN device.
  These follow the FIRST standard CAN layout. https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html
  Parameters:
  
  busId - the bus ID
  
  manufacturer - the can manufacturer
  
  deviceId - the device ID (0-63)
  
  deviceType - the device type
  
  Returns:
  
  the created CAN handle
  
  See Also:
  
  "HAL_InitializeCAN"
- cleanCAN
  
  public static void cleanCAN(int handle)
  
  Frees a CAN device.
  Parameters:
  
  handle - the CAN handle
  
  See Also:
  
  "HAL_CleanCAN"
- writeCANPacket
  
  public static void writeCANPacket(int handle, int apiId, byte[] data, int dataLength, int flags)
  
  Writes a packet to the CAN device with a specific ID.
  This ID is 10 bits.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to write (0-1023 bits)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  See Also:
  
  "HAL_WriteCANPacket"
- writeCANPacketRepeating
  
  public static void writeCANPacketRepeating(int handle, int apiId, byte[] data, int dataLength, int flags, int repeatMs)
  
  Writes a repeating packet to the CAN device with a specific ID.
  This ID is 10 bits.
  The RoboRIO will automatically repeat the packet at the specified interval
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to write (0-1023)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  repeatMs - the period to repeat in ms
  
  See Also:
  
  "HAL_WriteCANPacketRepeating"
- writeCANRTRFrame
  
  public static void writeCANRTRFrame(int handle, int apiId, byte[] data, int dataLength, int flags)
  
  Writes an RTR frame of the specified length to the CAN device with the specific ID.
  By spec, the length must be equal to the length sent by the other device, otherwise behavior is unspecified.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to write (0-1023)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  See Also:
  
  "HAL_WriteCANRTRFrame"
- writeCANPacketNoThrow
  
  public static int writeCANPacketNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags)
  
  Writes a packet to the CAN device with a specific ID without throwing on error.
  This ID is 10 bits.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to write (0-1023 bits)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  Returns:
  
  Error status variable. 0 on success.
  
  See Also:
  
  "HAL_WriteCANPacket"
- writeCANPacketRepeatingNoThrow
  
  public static int writeCANPacketRepeatingNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags, int repeatMs)
  
  Writes a repeating packet to the CAN device with a specific ID without throwing on error.
  This ID is 10 bits.
  The RoboRIO will automatically repeat the packet at the specified interval
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to write (0-1023)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  repeatMs - the period to repeat in ms
  
  Returns:
  
  Error status variable. 0 on success.
  
  See Also:
  
  "HAL_WriteCANPacketRepeating"
- writeCANRTRFrameNoThrow
  
  public static int writeCANRTRFrameNoThrow(int handle, int apiId, byte[] data, int dataLength, int flags)
  
  Writes an RTR frame of the specified length to the CAN device with the specific ID without throwing on error.
  By spec, the length must be equal to the length sent by the other device, otherwise behavior is unspecified.
  Parameters:
  
  handle - the CAN handlee
  
  apiId - the ID to write (0-1023)
  
  data - the data to send.
  
  dataLength - the length of data to send
  
  flags - the message flags
  
  Returns:
  
  Error status variable. 0 on success.
  
  See Also:
  
  "HAL_WriteCANRTRFrame"
- stopCANPacketRepeating
  
  public static void stopCANPacketRepeating(int handle, int apiId)
  
  Stops a repeating packet with a specific ID.
  This ID is 10 bits.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to stop repeating (0-1023)
  
  See Also:
  
  "HAL_StopCANPacketRepeating"
- readCANPacketNew
  
  public static boolean readCANPacketNew(int handle, int apiId, CANReceiveMessage data)
  
  Reads a new CAN packet.
  This will only return properly once per packet received. Multiple calls without receiving another packet will return false.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to read (0-1023)
  
  data - the received message
  
  Returns:
  
  true on success, false on error
  
  See Also:
  
  "HAL_ReadCANPacketNew"
- readCANPacketLatest
  
  public static boolean readCANPacketLatest(int handle, int apiId, CANReceiveMessage data)
  
  Reads a CAN packet. The will continuously return the last packet received, without accounting for packet age.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to read (0-1023)
  
  data - the received message
  
  Returns:
  
  true on success, false on error
  
  See Also:
  
  "HAL_ReadCANPacketLatest"
- readCANPacketTimeout
  
  public static boolean readCANPacketTimeout(int handle, int apiId, CANReceiveMessage data, int timeoutMs)
  
  Reads a CAN packet. The will return the last packet received until the packet is older then the requested timeout. Then it will return false.
  Parameters:
  
  handle - the CAN handle
  
  apiId - the ID to read (0-1023)
  
  data - the received message
  
  timeoutMs - the timeout time for the packet
  
  Returns:
  
  true on success, false on error
  
  See Also:
  
  "HAL_ReadCANPacketTimeout"

Class CANAPIJNI

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

Method Summary

Methods inherited from class edu.wpi.first.hal.JNIWrapper

Methods inherited from class java.lang.Object

Method Details

initializeCAN

cleanCAN

writeCANPacket

writeCANPacketRepeating

writeCANRTRFrame

writeCANPacketNoThrow

writeCANPacketRepeatingNoThrow

writeCANRTRFrameNoThrow

stopCANPacketRepeating

readCANPacketNew

readCANPacketLatest

readCANPacketTimeout