edu.wpi.first.wpilibj.can
Class JaguarCANDriver

java.lang.Object
  edu.wpi.first.wpilibj.can.JaguarCANDriver

public class JaguarCANDriver
extends java.lang.Object

Field Summary

static int	kMaxMessageDataSize
int	receivedMessageId

Constructor Summary

JaguarCANDriver()

Method Summary

byte	receiveMessage(int messageID, byte[] data) Call receiveMessage with a default timeout parameter of 100ms
byte	receiveMessage(int messageID, byte[] data, double timeout) Wait for a message to be received from the CAN bus.
byte	receiveMessageComplete(int messageID, byte[] data) Get the result of waiting for a message to be received from the CAN bus.
boolean	receiveMessageStart(int messageID, Semaphore sem, double timeout) Start waiting for a message to be received from the CAN bus.
static void	sendMessage(int messageID, byte[] data, int dataSize) Send a message on the CAN bus

Methods inherited from class java.lang.Object

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

Field Detail

kMaxMessageDataSize

public static final int kMaxMessageDataSize

See Also:

Constant Field Values

receivedMessageId

public int receivedMessageId

Constructor Detail

JaguarCANDriver

public JaguarCANDriver()

Method Detail

sendMessage

public static void sendMessage(int messageID,
                               byte[] data,
                               int dataSize)
                        throws CANTimeoutException

Send a message on the CAN bus

Parameters:

messageID - CAN MessageID to send on the CAN

data - Data payload to send with the message

Throws:

CANTimeoutException

receiveMessage

public byte receiveMessage(int messageID,
                           byte[] data,
                           double timeout)
                    throws CANTimeoutException

Wait for a message to be received from the CAN bus.

Parameters:

messageID - MessageID filter to specify what message ID to be expected.

data - Buffer for received data

timeout - Number of seconds to wait for the expected message

Returns:

Actual size of the valid bytes in data

Throws:

CANTimeoutException

receiveMessage

public byte receiveMessage(int messageID,
                           byte[] data)
                    throws CANTimeoutException

Call receiveMessage with a default timeout parameter of 100ms

Parameters:

messageID - MessageID filter to specify what message ID to be expected.

data - Buffer for received data

Returns:

Actual size of the valid bytes in data

Throws:

CANTimeoutException

receiveMessageStart

public boolean receiveMessageStart(int messageID,
                                   Semaphore sem,
                                   double timeout)
                            throws CANTimeoutException

Start waiting for a message to be received from the CAN bus.

Parameters:

messageID - MessageID filter to specify what message ID to be expected.

sem - Semaphore that indicates that the receive call has completed.

timeout - Number of seconds to wait for the expected message.

Returns:

Data available now... call complete

Throws:

CANTimeoutException

receiveMessageComplete

public byte receiveMessageComplete(int messageID,
                                   byte[] data)
                            throws CANTimeoutException

Get the result of waiting for a message to be received from the CAN bus.

Parameters:

messageID - MessageID filter to specify what message ID to be expected.

data - Buffer for received data

Returns:

Actual size of the valid bytes in data

Throws:

CANTimeoutException