Create CANDevice.CopyReceivedMessagesMap()

REVrobotics · Nov 7, 2024 · b7f6207 · b7f6207
1 parent 77162c1
commit b7f6207
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Showing 5 changed files with 17 additions and 0 deletions.
diff --git a/src/main/native/cpp/Drivers/CandleWinUSB/CandleWinUSBDevice.cpp b/src/main/native/cpp/Drivers/CandleWinUSB/CandleWinUSBDevice.cpp
@@ -33,6 +33,7 @@
 
 #include <iostream> //TODO: Remove
 #include <thread>
+#include <map>
 
 #include <hal/simulation/CanData.h>
 #include <hal/CAN.h>
@@ -191,6 +192,11 @@ bool CandleWinUSBDevice::IsConnected()
     return true;
 }
 
+bool CandleWinUSBDevice::CopyReceivedMessagesMap(std::map<uint32_t, std::shared_ptr<CANMessage>>& receivedMessagesMap)
+{
+    return m_thread.ReceiveMessage(receivedMessagesMap);
+}
+
 
 } // namespace usb
 } // namespace rev

diff --git a/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp b/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp
@@ -32,6 +32,7 @@
 
 #include <iostream> //TODO: Remove
 #include <thread>
+#include <map>
 
 #include <hal/simulation/CanData.h>
 #include <hal/CAN.h>
@@ -152,6 +153,11 @@ bool SerialDevice::IsConnected()
     return true;
 }
 
+bool SerialDevice::CopyReceivedMessagesMap(std::map<uint32_t, std::shared_ptr<CANMessage>>& receivedMessagesMap)
+{
+    return m_thread.ReceiveMessage(receivedMessagesMap);
+}
+
 
 } // namespace usb
 } // namespace rev

diff --git a/src/main/native/include/rev/CANDevice.h b/src/main/native/include/rev/CANDevice.h
@@ -29,6 +29,7 @@
 #pragma once
 
 #include <string>
+#include <map>
 
 #include "rev/CANMessage.h"
 #include "rev/CANStatus.h"
@@ -81,6 +82,8 @@ class CANDevice {
     virtual void setThreadPriority(utils::ThreadPriority priority) {};
     virtual void stopRepeatedMessage(uint32_t messageId) {};
     virtual void ClearSendQueue() {};
+
+    virtual bool CopyReceivedMessagesMap(std::map<uint32_t, std::shared_ptr<CANMessage>>& receivedMessagesMap) = 0;
 };
 
 } // namespace usb

diff --git a/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDevice.h b/src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDevice.h
@@ -65,6 +65,7 @@ class CandleWinUSBDevice : public CANDevice {
     virtual void setThreadPriority(utils::ThreadPriority priority);
     virtual void stopRepeatedMessage(uint32_t messageId);
     virtual void ClearSendQueue();
+    virtual bool CopyReceivedMessagesMap(std::map<uint32_t, std::shared_ptr<CANMessage>>& receivedMessagesMap) override;
 private:
     candle_handle m_handle;
     CandleWinUSBDeviceThread m_thread;

diff --git a/src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h b/src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h
@@ -61,6 +61,7 @@ class SerialDevice : public CANDevice {
     virtual CANStatus GetCANDetailStatus(float* percentBusUtilization, uint32_t* busOff, uint32_t* txFull, uint32_t* receiveErr, uint32_t* transmitErr, uint32_t* lastErrorTime) override;
 
     virtual bool IsConnected() override;
+    virtual bool CopyReceivedMessagesMap(std::map<uint32_t, std::shared_ptr<CANMessage>>& receivedMessagesMap) override;
 private:
     SerialDeviceThread m_thread;
     std::string m_descriptor;