/**
* Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication
*
* <p>Trusted messages require a 2-byte token at the beginning of the data payload. If the message
* being sent is trusted, make space for the token.
*
* @param messageID The messageID to be used on the CAN bus
* @param data The up to 8 bytes of data to be sent with the message
* @param dataSize Specify how much of the data in "data" to send
*/
protected static void sendMessage(int messageID, byte[] data, int dataSize)
throws CANTimeoutException {
final int[] kTrustedMessages = {
JaguarCANProtocol.LM_API_VOLT_T_EN, JaguarCANProtocol.LM_API_VOLT_T_SET,
JaguarCANProtocol.LM_API_SPD_T_EN, JaguarCANProtocol.LM_API_SPD_T_SET,
JaguarCANProtocol.LM_API_VCOMP_T_EN, JaguarCANProtocol.LM_API_VCOMP_T_SET,
JaguarCANProtocol.LM_API_POS_T_EN, JaguarCANProtocol.LM_API_POS_T_SET,
JaguarCANProtocol.LM_API_ICTRL_T_EN, JaguarCANProtocol.LM_API_ICTRL_T_SET
};
byte i;
for (i = 0; i < kTrustedMessages.length; i++) {
if ((kFullMessageIDMask & messageID) == kTrustedMessages[i]) {
sendTrustedDataBuffer[0] = 0;
sendTrustedDataBuffer[1] = 0;
// Make sure the data will still fit after adjusting for the token.
if (dataSize > JaguarCANDriver.kMaxMessageDataSize - 2) {
throw new RuntimeException("CAN message has too much data.");
}
byte j;
for (j = 0; j < dataSize; j++) {
sendTrustedDataBuffer[j + 2] = data[j];
}
JaguarCANDriver.sendMessage(messageID, sendTrustedDataBuffer, dataSize + 2);
return;
}
}
JaguarCANDriver.sendMessage(messageID, data, dataSize);
}
/**
* Receive a message from the CAN bus through the CAN driver in FRC_NetworkCommunication
*
* @param messageID The messageID to read from the CAN bus
* @param data The up to 8 bytes of data that was received with the message
* @param timeout Specify how long to wait for a message (in seconds)
*/
protected static byte receiveMessage(int messageID, byte[] data, double timeout)
throws CANTimeoutException {
JaguarCANDriver canDriver = new JaguarCANDriver();
byte dataSize = canDriver.receiveMessage(messageID, data, timeout);
return dataSize;
}