Package com.thethriftybot.wrappers

Class CANAPIJNIWrapper

java.lang.Object

com.thethriftybot.wrappers.CANAPIJNIWrapper

public final class CANAPIJNIWrapper
extends Object

Wrapper class for WPI hardware methods.

Method Summary

Modifier and Type	Method	Description
static int	initializeCAN(int vendor, int device, int type)	Initializes the CAN device.
static boolean	readCANPacketLatest(int handle, int apiID, CANData data)	Reads the latest CAN packet.
static boolean	readCANPacketNew(int deviceHandle, int apiID, CANData data)	Reads a new CAN packet.
static void	resetDelegate()	Used to reset the Delegate back to the CANAPIJNI from WPILib.
static void	setDelegate(CANAPIJNIInterface newDelegate)	Used to pass in a new Delegate for the CAN API In our case it will be used to pass in the Mock CANAPIJNI
static int	writeCANPacketNoThrow(int handle, byte[] data, int apiId)	Writes a packet to the CAN device with a specific ID without throwing on error.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

setDelegate

public static void setDelegate(CANAPIJNIInterface newDelegate)

Used to pass in a new Delegate for the CAN API In our case it will be used to pass in the Mock CANAPIJNI

Parameters:

newDelegate - Mocked or different CANAPI

resetDelegate

public static void resetDelegate()

Used to reset the Delegate back to the CANAPIJNI from WPILib.

writeCANPacketNoThrow

public static int writeCANPacketNoThrow(int handle,
 byte[] data,
 int apiId)

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

data - the data to write (0-8 bytes)

apiId - the ID to write (0-1023 bytes)

Returns:

Error status varible. 0 on success.

initializeCAN

public static int initializeCAN(int vendor,
 int device,
 int type)

Initializes the CAN device.

Parameters:

vendor - The device vendor.

device - The device ID.

type - The device type.

Returns:

The handle for the device.

readCANPacketNew

public static boolean readCANPacketNew(int deviceHandle,
 int apiID,
 CANData data)

Reads a new CAN packet.

Parameters:

deviceHandle - The device handle.

apiID - The API ID to read.

data - The CANData object to populate.

Returns:

True if a new packet was found, false otherwise.

readCANPacketLatest

public static boolean readCANPacketLatest(int handle,
 int apiID,
 CANData data)

Reads the latest CAN packet.

Parameters:

handle - The device handle.

apiID - The API ID to read.

data - The CANData object to populate.

Returns:

True if a packet was found, false otherwise.