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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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38
hal/src/main/native/systemcore/FRCDriverStation.cpp
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@@ -15,6 +15,7 @@
#include <fmt/format.h>
#include <networktables/BooleanTopic.h>
#include <networktables/IntegerTopic.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/ProtobufTopic.h>
#include <networktables/StringArrayTopic.h>
@@ -84,6 +85,7 @@ struct SystemServerDriverStation {
nt::ProtobufPublisher<std::vector<mrc::OpMode>> teleopOpModes;
nt::ProtobufPublisher<std::vector<mrc::OpMode>> autoOpModes;
nt::ProtobufPublisher<std::vector<mrc::OpMode>> testOpModes;
nt::IntegerPublisher traceOpModePublisher;
NT_Listener controlDataListener;
@@ -155,20 +157,28 @@ struct SystemServerDriverStation {
.Publish();
std::vector<mrc::OpMode> staticTeleopOpModes;
staticTeleopOpModes.emplace_back(mrc::OpMode{"TeleOp", 2});
staticTeleopOpModes.emplace_back(
mrc::OpMode{"TeleOp", mrc::OpModeHash::MakeTele(2)});
teleopOpModes.Set(staticTeleopOpModes);
std::vector<mrc::OpMode> staticAutoOpModes;
staticAutoOpModes.emplace_back(mrc::OpMode{"Auto", 1});
staticAutoOpModes.emplace_back(
mrc::OpMode{"Auto", mrc::OpModeHash::MakeAuto(1)});
autoOpModes.Set(staticAutoOpModes);
std::vector<mrc::OpMode> staticTestOpModes;
staticTestOpModes.emplace_back(mrc::OpMode{"Test", 3});
staticTestOpModes.emplace_back(
mrc::OpMode{"Test", mrc::OpModeHash::MakeTest(3)});
testOpModes.Set(staticTestOpModes);
ntInst.AddListener(
controlDataSubscriber, NT_EVENT_VALUE_REMOTE | NT_EVENT_UNPUBLISH,
[this](const nt::Event& event) { HandleListener(event); });
traceOpModePublisher =
ntInst.GetIntegerTopic(ROBOT_CURRENT_OPMODE_TRACE_PATH)
.Publish(options);
traceOpModePublisher.GetTopic().SetCached(false);
}
void HandleListener(const nt::Event& event);
@@ -256,7 +266,7 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
povs[count].povs[i] = newPovs[i];
}
buttons[count].count = newStick.Buttons.GetCount();
buttons[count].count = newStick.Buttons.GetMaxAvailableCount();
buttons[count].buttons = newStick.Buttons.Buttons;
}
}
@@ -567,13 +577,25 @@ void HAL_ObserveUserProgramStarting(void) {
systemServerDs->hasUserCodeReadyPublisher.Set(true);
}
void HAL_ObserveUserProgramDisabled(void) {}
void HAL_ObserveUserProgramDisabled(void) {
systemServerDs->traceOpModePublisher.Set(
mrc::OpModeHash::MakeTele(1, false).ToValue());
}
void HAL_ObserveUserProgramAutonomous(void) {}
void HAL_ObserveUserProgramAutonomous(void) {
auto tVal = mrc::OpModeHash::MakeAuto(2, true).ToValue();
systemServerDs->traceOpModePublisher.Set(tVal);
}
void HAL_ObserveUserProgramTeleop(void) {}
void HAL_ObserveUserProgramTeleop(void) {
auto tVal = mrc::OpModeHash::MakeTele(1, true).ToValue();
systemServerDs->traceOpModePublisher.Set(tVal);
}
void HAL_ObserveUserProgramTest(void) {}
void HAL_ObserveUserProgramTest(void) {
systemServerDs->traceOpModePublisher.Set(
mrc::OpModeHash::MakeTest(3, true).ToValue());
}
HAL_Bool HAL_RefreshDSData(void) {
mrc::ControlData newestData;