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[sim] Add callbacks for joysticks and match info (#2628)

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This commit is contained in:
Peter Johnson
2020-08-03 22:38:48 -07:00
committed by GitHub
parent ceea1f9d44
commit 1b8ceb36fc
3 changed files with 346 additions and 142 deletions
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93
hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
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@@ -12,10 +12,10 @@
#include <wpi/spinlock.h>
#include "hal/simulation/DriverStationData.h"
#include "hal/simulation/SimCallbackRegistry.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
struct JoystickOutputStore;
class DriverStationData {
HAL_SIMDATAVALUE_DEFINE_NAME(Enabled)
@@ -26,6 +26,12 @@ class DriverStationData {
HAL_SIMDATAVALUE_DEFINE_NAME(DsAttached)
HAL_SIMDATAVALUE_DEFINE_NAME(AllianceStationId)
HAL_SIMDATAVALUE_DEFINE_NAME(MatchTime)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickAxes)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickPOVs)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickButtons)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickDescriptor)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickOutputs)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(MatchInfo)
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeAllianceStationIdValue(HAL_AllianceStationID value) {
@@ -36,26 +42,54 @@ class DriverStationData {
DriverStationData();
void ResetData();
int32_t RegisterJoystickAxesCallback(int32_t joystickNum,
HAL_JoystickAxesCallback callback,
void* param, HAL_Bool initialNotify);
void CancelJoystickAxesCallback(int32_t uid);
void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
void GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* descriptor);
void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
int32_t* leftRumble, int32_t* rightRumble);
void GetMatchInfo(HAL_MatchInfo* info);
void FreeMatchInfo(const HAL_MatchInfo* info);
void SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
int32_t RegisterJoystickPOVsCallback(int32_t joystickNum,
HAL_JoystickPOVsCallback callback,
void* param, HAL_Bool initialNotify);
void CancelJoystickPOVsCallback(int32_t uid);
void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
void SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
int32_t RegisterJoystickButtonsCallback(int32_t joystickNum,
HAL_JoystickButtonsCallback callback,
void* param, HAL_Bool initialNotify);
void CancelJoystickButtonsCallback(int32_t uid);
void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
void SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons);
int32_t RegisterJoystickDescriptorCallback(
int32_t joystickNum, HAL_JoystickDescriptorCallback callback, void* param,
HAL_Bool initialNotify);
void CancelJoystickDescriptorCallback(int32_t uid);
void GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* descriptor);
void SetJoystickDescriptor(int32_t joystickNum,
const HAL_JoystickDescriptor* descriptor);
int32_t RegisterJoystickOutputsCallback(int32_t joystickNum,
HAL_JoystickOutputsCallback callback,
void* param, HAL_Bool initialNotify);
void CancelJoystickOutputsCallback(int32_t uid);
void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
int32_t* leftRumble, int32_t* rightRumble);
void SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
int32_t RegisterMatchInfoCallback(HAL_MatchInfoCallback callback, void* param,
HAL_Bool initialNotify);
void CancelMatchInfoCallback(int32_t uid);
void GetMatchInfo(HAL_MatchInfo* info);
void SetMatchInfo(const HAL_MatchInfo* info);
void FreeMatchInfo(const HAL_MatchInfo* info);
void NotifyNewData();
void SetJoystickButton(int32_t stick, int32_t button, HAL_Bool state);
@@ -90,16 +124,39 @@ class DriverStationData {
SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
private:
SimCallbackRegistry<HAL_JoystickAxesCallback, GetJoystickAxesName>
m_joystickAxesCallbacks;
SimCallbackRegistry<HAL_JoystickPOVsCallback, GetJoystickPOVsName>
m_joystickPOVsCallbacks;
SimCallbackRegistry<HAL_JoystickButtonsCallback, GetJoystickButtonsName>
m_joystickButtonsCallbacks;
SimCallbackRegistry<HAL_JoystickOutputsCallback, GetJoystickOutputsName>
m_joystickOutputsCallbacks;
SimCallbackRegistry<HAL_JoystickDescriptorCallback, GetJoystickDescriptorName>
m_joystickDescriptorCallbacks;
SimCallbackRegistry<HAL_MatchInfoCallback, GetMatchInfoName>
m_matchInfoCallbacks;
struct JoystickOutputStore {
int64_t outputs = 0;
int32_t leftRumble = 0;
int32_t rightRumble = 0;
};
struct JoystickData {
HAL_JoystickAxes axes;
HAL_JoystickPOVs povs;
HAL_JoystickButtons buttons;
JoystickOutputStore outputs;
HAL_JoystickDescriptor descriptor;
};
static constexpr int kNumJoysticks = 6;
wpi::spinlock m_joystickDataMutex;
JoystickData m_joystickData[kNumJoysticks];
wpi::spinlock m_matchInfoMutex;
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
std::unique_ptr<JoystickOutputStore[]> m_joystickOutputs;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
std::unique_ptr<HAL_MatchInfo> m_matchInfo;
HAL_MatchInfo m_matchInfo;
};
extern DriverStationData* SimDriverStationData;
} // namespace hal