edu.wpi.first.wpilibj.can
Class JaguarCANDriver

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

public class JaguarCANDriver
extends 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

equals, 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