CanDevice Class Reference

Common base abstraction for AndyMark CAN devices. More...

#include <AMCanDevice.h>

Inheritance diagram for CanDevice:

Public Member Functions
	CanDevice (int deviceID, int deviceManufacturer, int deviceType)
	Construct a CAN device wrapper.
virtual	~CanDevice ()=default
	Virtual destructor.
int	getDeviceId ()
	Get this device's configured CAN ID.
void	RestartDevice ()
	Request a device reboot via CAN command.

Protected Member Functions
void	SendCANMessage (int apiID, const uint8_t *data, int length)
	Low-level helper to transmit a CAN packet.
bool	ReceiveCANMessage (int apiID, frc::CANData *, int timeoutMs)
	Receive a packet with a specific API ID, optionally waiting up to timeout.

Protected Attributes
frc::CAN	m_can
int	m_deviceID
int	deviceManufacturer
int	deviceType

Detailed Description

Common base abstraction for AndyMark CAN devices.

Construct with a device ID, manufacturer, and device type. Provides protected helpers to send/receive raw CAN packets and public utility methods.

Constructor & Destructor Documentation

CanDevice()

CanDevice::CanDevice ( int deviceID, int deviceManufacturer, int deviceType )

explicit

Construct a CAN device wrapper.

Parameters

deviceID	The 6-bit/8-bit device ID on the CAN bus.
deviceManufacturer	8-bit manufacturer code (e.g., 15 for AndyMark).
deviceType	Device type identifier (matches on-device firmware).

~CanDevice()

virtual CanDevice::~CanDevice ( )

virtualdefault

Virtual destructor.

Necessary for correct cleanup through base pointers.

Member Function Documentation

getDeviceId()

int CanDevice::getDeviceId

(

)

Get this device's configured CAN ID.

Returns

The numeric CAN device ID.

ReceiveCANMessage()

bool CanDevice::ReceiveCANMessage ( int apiID, frc::CANData * , int timeoutMs )

protected

Receive a packet with a specific API ID, optionally waiting up to timeout.

Wraps WPILib frc::CAN::ReadPacketTimeout.

Parameters

apiID	Expected API ID to match.
frc::CANData*	Destination structure for received data.
timeoutMs	Maximum time to wait for a packet (milliseconds).

Returns

True if a matching frame was received within the timeout; false otherwise.

RestartDevice()

void CanDevice::RestartDevice

(

)

Request a device reboot via CAN command.

Sends a vendor-specific API frame defined by RESTART_DEVICE_API.

SendCANMessage()

void CanDevice::SendCANMessage ( int apiID, const uint8_t * data, int length )

protected

Low-level helper to transmit a CAN packet.

Parameters

apiID	Vendor-specific API ID used to route the message.
data	Pointer to payload bytes (may be nullptr when length==0).
length	Number of payload bytes (0..8).

Member Data Documentation

deviceManufacturer

int CanDevice::deviceManufacturer

protected

Manufacturer code (8-bit).

deviceType

int CanDevice::deviceType

protected

Device type identifier.

m_can

frc::CAN CanDevice::m_can

protected

Underlying WPILib CAN endpoint.

m_deviceID

int CanDevice::m_deviceID

protected

Configured CAN device ID.

---

The documentation for this class was generated from the following file:

• src/main/native/include/AMCanDevice.h