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/*
* Copyright (c) 2018-2025 REV Robotics
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of REV Robotics nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <rev/driver/FRCCanSpec.h>
#include <stdint.h>
#include <atomic>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <thread>
#include <unordered_map>
#include <utility>
#include <vector>
namespace rev {
namespace detail {
static const char* frc_deviceType_text[16] = {
"Broadcast",
"Robot Controller",
"Motor Controller",
"Relay Controller",
"Gyro Sensor",
"Accelerometer",
"Ultrasonic Sensor",
"Gear Tooth Sensor",
"Power Distribution",
"Pneumatics Controller",
"Misc CAN Device",
"IO Breakout",
"Servo Controller",
"Reserved"
"Firmware Update",
"Unknown",
};
static inline const char* GetFRCDeviceTypeText(uint32_t index) {
if (index > 12 && index < 31) {
index = 13;
} else if (index > 31) {
index = 15;
} else if (index == 31) {
index = 14;
} else {
index = 0;
}
return frc_deviceType_text[index];
}
static const char* frc_manufacturer_text[18] = {"Broadcast",
"NI",
"LM",
"DEKA",
"CTRE",
"REV",
"Grapple",
"MindSensors",
"Team Use",
"Kauai Labs",
"Copperforge",
"Playing with Fusion",
"Studica",
"TheThriftyBot",
"Redux Robotics",
"AndyMark",
"Vivid-Hosting",
"Unknown"};
static inline const char* GetFRCManufacturerText(uint32_t index) {
index = (index > 17) ? 17 : index;
return frc_manufacturer_text[index];
}
// Note: This is dependent on __attribute__((PACKED)) and processor is
// little-endian
#ifdef _WIN32
#define PACKED
#pragma pack(push, 1)
#else
#define PACKED __attribute__((__packed__))
#endif
struct PACKED frc_frameIDFields_t {
uint16_t deviceNumber : 6;
uint16_t api : 10;
rev::FRCManufacturer manufacturer : 8;
rev::FRCDeviceType deviceType : 5;
uint8_t rsvd : 3; // these are DNC
};
union frc_frameID_t {
frc_frameIDFields_t fields;
uint32_t raw;
};
struct CANScanIdentifier {
rev::FRCDeviceType deviceTypeId;
rev::FRCManufacturer manufacturerId;
uint16_t canId;
uint32_t uniqueId;
std::string name;
CANScanIdentifier(uint32_t arbid, std::string name, uint32_t uniqueId = 0) {
frc_frameID_t frame;
frame.raw = arbid;
this->name = name;
this->uniqueId = uniqueId;
this->deviceTypeId = frame.fields.deviceType;
this->manufacturerId = frame.fields.manufacturer;
this->canId = frame.fields.deviceNumber;
}
std::string Name() const {
if (name.empty()) {
return std::string(GetFRCManufacturerText(manufacturerId)) + " " +
std::string(GetFRCDeviceTypeText(deviceTypeId));
} else {
return name;
}
}
};
inline bool operator<(const CANScanIdentifier& lhs,
const CANScanIdentifier& rhs) {
return std::tie(lhs.deviceTypeId, lhs.manufacturerId, lhs.canId,
lhs.uniqueId) < std::tie(rhs.deviceTypeId,
rhs.manufacturerId, rhs.canId,
rhs.uniqueId);
}
inline bool operator>(const CANScanIdentifier& lhs,
const CANScanIdentifier& rhs) {
return std::tie(lhs.deviceTypeId, lhs.manufacturerId, lhs.canId,
lhs.uniqueId) > std::tie(rhs.deviceTypeId,
rhs.manufacturerId, rhs.canId,
rhs.uniqueId);
}
inline bool operator==(const CANScanIdentifier& lhs,
const CANScanIdentifier& rhs) {
return std::tie(lhs.deviceTypeId, lhs.manufacturerId, lhs.canId,
lhs.uniqueId) == std::tie(rhs.deviceTypeId,
rhs.manufacturerId, rhs.canId,
rhs.uniqueId);
}
class CANBusScanner {
public:
// Make sure the buffer size is large enough to capture all needed messages
// in the thread interval time
explicit CANBusScanner(int buffersize = 256, int threadIntervalMs = 10);
~CANBusScanner();
bool Start();
void Stop();
bool Running();
std::string LastError();
std::vector<CANScanIdentifier> CANBusScan();
void RegisterDevice(std::string name, std::vector<uint32_t> validIds,
int32_t maxFramePeriodMs = 100);
private:
class CANScanElement {
uint64_t lastSeen;
uint64_t timeout;
public:
explicit CANScanElement(uint64_t timeoutMs = 1000);
void UpdateLastSeen();
bool IsActive() const;
};
class CANScanCollection {
public:
CANScanCollection(std::string name, uint32_t arbId, uint64_t timeoutMs)
: name(name), timeout(timeoutMs), arbId(arbId) {}
std::vector<int> ActiveDevices() const {
std::vector<int> result;
for (const auto& [devKey, devValue] : devices) {
if (devValue.IsActive()) {
result.push_back(devKey);
}
}
return result;
}
void AddOrUpdateDevice(int id) {
if (devices.find(id) != devices.end()) {
devices[id] = CANScanElement(timeout);
}
devices[id].UpdateLastSeen();
}
std::string Name() const { return name; }
uint32_t ArbId() const { return arbId; }
private:
std::string name;
uint64_t timeout;
uint32_t arbId;
std::unordered_map<int, CANScanElement> devices;
};
// Data structure is a map of all arbIds that point to a single shared
// collection and a vector of all collections (same pointer). This allows a
// fast lookup per arbID received and a way to iterate through by registered
// device
std::unordered_map<uint32_t, std::shared_ptr<CANScanCollection> >
m_registeredDevices;
std::vector<std::shared_ptr<CANScanCollection> > m_registeredList;
int m_streamBufferSize;
uint32_t m_streamHandle;
int m_threadInterval;
std::thread m_thread;
std::atomic_bool m_stopThread;
std::atomic_bool m_running;
std::string m_lastError;
void run();
};
} // namespace detail
} // namespace rev