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[hal] Update to new joystick protobuf definitions (#7991)

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This commit is contained in:
Thad House
2025-05-31 10:52:27 -07:00
committed by GitHub
parent a6f601453a
commit 1991af34a5
9 changed files with 479 additions and 377 deletions
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18
hal/src/main/native/cpp/proto/ControlDataProto.cpp
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@@ -82,7 +82,7 @@ std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
ControlData.ControlWord = ToControlWord(Msg.ControlWord);
ControlData.MatchTime = Msg.MatchTime;
ControlData.CurrentOpMode = Msg.CurrentOpMode;
ControlData.CurrentOpMode = mrc::OpModeHash::FromValue(Msg.CurrentOpMode);
ControlData.SetJoystickCount(Joysticks.size());
for (size_t i = 0; i < ControlData.GetJoystickCount(); i++) {
@@ -101,7 +101,7 @@ bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
.ControlWord = FromControlWord(Value.ControlWord),
.MatchTime = Value.MatchTime,
.Joysticks = Joysticks.Callback(),
.CurrentOpMode = Value.CurrentOpMode,
.CurrentOpMode = Value.CurrentOpMode.ToValue(),
};
return Stream.Encode(Msg);
@@ -112,8 +112,9 @@ std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
wpi::UnpackCallback<int16_t, MRC_MAX_NUM_AXES> AxesCb;
mrc_proto_ProtobufJoystickData Msg{
.ButtonCount = 0,
.AvailableButtons = 0,
.Buttons = 0,
.AvailableAxes = 0,
.Axes = AxesCb.Callback(),
.POVCount = 0,
.POVs = 0,
@@ -126,13 +127,15 @@ std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
auto Axes = AxesCb.Items();
mrc::Joystick Joystick;
Joystick.Axes.SetCount(Axes.size());
Joystick.Axes.SetAvailable(Msg.AvailableAxes);
auto JoystickAxesCount =
(std::min)(Joystick.Axes.GetMaxAvailableCount(), Axes.size());
for (size_t i = 0; i < Joystick.Axes.GetCount(); i++) {
for (size_t i = 0; i < JoystickAxesCount; i++) {
Joystick.Axes.Axes()[i] = Axes[i];
}
Joystick.Buttons.SetCount(Msg.ButtonCount);
Joystick.Buttons.SetAvailable(Msg.AvailableButtons);
Joystick.Buttons.Buttons = Msg.Buttons;
Joystick.Povs.SetCount(Msg.POVCount);
@@ -157,8 +160,9 @@ bool wpi::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
}
mrc_proto_ProtobufJoystickData Msg{
.ButtonCount = static_cast<uint32_t>(Value.Buttons.GetCount()),
.AvailableButtons = Value.Buttons.GetAvailable(),
.Buttons = Value.Buttons.Buttons,
.AvailableAxes = Value.Axes.GetAvailable(),
.Axes = AxesCb.Callback(),
.POVCount = static_cast<uint32_t>(Value.Povs.GetCount()),
.POVs = PovsStore,