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[hal] remove dangling periodic packet function from sim CANAPI (NFC) #6879

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merged 2 commits into from
Jul 27, 2024
Merged

[hal] remove dangling periodic packet function from sim CANAPI (NFC) #6879

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a277077
remove periodic packet function from sim CANAPI
rzblue Jul 27, 2024
07994db
format
rzblue Jul 27, 2024
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67 changes: 3 additions & 64 deletions hal/src/main/native/sim/CANAPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,8 +63,8 @@ static int32_t CreateCANId(CANStorage* storage, int32_t apiId) {
createdId |= (storage->deviceId & 0x3F);
return createdId;
}

uint32_t HAL_GetCANPacketBaseTime() {
extern "C" {
uint32_t HAL_GetCANPacketBaseTime(void) {
int status = 0;
auto basetime = HAL_GetFPGATime(&status);
// us to ms
Expand Down Expand Up @@ -289,65 +289,4 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
}
}
}

void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
uint8_t* data, int32_t* length,
uint64_t* receivedTimestamp, int32_t timeoutMs,
int32_t periodMs, int32_t* status) {
auto can = canHandles->Get(handle);
if (!can) {
*status = HAL_HANDLE_ERROR;
return;
}

uint32_t messageId = CreateCANId(can.get(), apiId);

{
std::scoped_lock lock(can->mapMutex);
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp < static_cast<uint32_t>(periodMs)) {
*status = 0;
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
return;
}
}
}

uint8_t dataSize = 0;
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);

std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
msg.length = dataSize;
*length = dataSize;
msg.lastTimeStamp = ts;
*receivedTimestamp = ts;
// The NetComm call placed in data, copy into the msg
std::memcpy(msg.data, data, dataSize);
} else {
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
return;
}
// Read the data from the stored message into the output
std::memcpy(data, i->second.data, i->second.length);
*length = i->second.length;
*receivedTimestamp = i->second.lastTimeStamp;
*status = 0;
}
}
}
} // extern "C"
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