001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.hal.can;
006
007/** Represents a CAN message read from a stream. */
008public class CANReceiveMessage {
009  /** The message data. */
010  @SuppressWarnings("MemberName")
011  public final byte[] data = new byte[64];
012
013  /** The length of the data received (0-8 bytes). */
014  @SuppressWarnings("MemberName")
015  public int length;
016
017  /** The flags of the message. */
018  @SuppressWarnings("MemberName")
019  public int flags;
020
021  /** Timestamp message was received, in microseconds (wpi time). */
022  @SuppressWarnings("MemberName")
023  public long timestamp;
024
025  /** Default constructor. */
026  public CANReceiveMessage() {}
027
028  /**
029   * API used from JNI to set the data.
030   *
031   * @param length Length of packet in bytes.
032   * @param flags Message flags.
033   * @param timestamp CAN frame timestamp in microseconds.
034   * @return Buffer containing CAN frame.
035   */
036  @SuppressWarnings("PMD.MethodReturnsInternalArray")
037  public byte[] setReceiveData(int length, int flags, long timestamp) {
038    this.flags = flags;
039    this.length = length;
040    this.timestamp = timestamp;
041    return data;
042  }
043}