[hal] Update DS API to new format (#7977)

hal/src/main/native/cpp/jni/DriverStationJNI.cpp

@@ -136,11 +136,11 @@ Java_edu_wpi_first_hal_DriverStationJNI_nativeGetAllianceStation
 /*
  * Class:     edu_wpi_first_hal_DriverStationJNI
  * Method:    getJoystickAxesRaw
- * Signature: (B[I)I
+ * Signature: (B[S)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxesRaw
-  (JNIEnv* env, jclass, jbyte joystickNum, jintArray axesRawArray)
+  (JNIEnv* env, jclass, jbyte joystickNum, jshortArray axesRawArray)
 {
   HAL_JoystickAxes axes;
   HAL_GetJoystickAxes(joystickNum, &axes);
@@ -155,11 +155,7 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxesRaw
     return 0;
   }
 
-  jint raw[HAL_kMaxJoystickAxes];
-  for (int16_t i = 0; i < axes.count; i++) {
-    raw[i] = axes.raw[i];
-  }
-  env->SetIntArrayRegion(axesRawArray, 0, axes.count, raw);
+  env->SetShortArrayRegion(axesRawArray, 0, axes.count, axes.raw);
 
   return axes.count;
 }
@@ -194,11 +190,11 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxes
 /*
  * Class:     edu_wpi_first_hal_DriverStationJNI
  * Method:    getJoystickPOVs
- * Signature: (B[S)I
+ * Signature: (B[B)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_DriverStationJNI_getJoystickPOVs
-  (JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
+  (JNIEnv* env, jclass, jbyte joystickNum, jbyteArray povsArray)
 {
   HAL_JoystickPOVs povs;
   HAL_GetJoystickPOVs(joystickNum, &povs);
@@ -213,7 +209,8 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickPOVs
     return 0;
   }
 
-  env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
+  env->SetByteArrayRegion(povsArray, 0, povs.count,
+                          reinterpret_cast<const jbyte*>(povs.povs));
 
   return povs.count;
 }
@@ -221,12 +218,12 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickPOVs
 /*
  * Class:     edu_wpi_first_hal_DriverStationJNI
  * Method:    getAllJoystickData
- * Signature: ([F[B[S[J)V
+ * Signature: ([F[S[B[J)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
-  (JNIEnv* env, jclass cls, jfloatArray axesArray, jbyteArray rawAxesArray,
-   jshortArray povsArray, jlongArray buttonsAndMetadataArray)
+  (JNIEnv* env, jclass cls, jfloatArray axesArray, jshortArray rawAxesArray,
+   jbyteArray povsArray, jlongArray buttonsAndMetadataArray)
 {
   HAL_JoystickAxes axes[HAL_kMaxJoysticks];
   HAL_JoystickPOVs povs[HAL_kMaxJoysticks];
@@ -235,8 +232,8 @@ Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
   HAL_GetAllJoystickData(axes, povs, buttons);
 
   CriticalJSpan<jfloat> jAxes(env, axesArray);
-  CriticalJSpan<jbyte> jRawAxes(env, rawAxesArray);
-  CriticalJSpan<jshort> jPovs(env, povsArray);
+  CriticalJSpan<jshort> jRawAxes(env, rawAxesArray);
+  CriticalJSpan<jbyte> jPovs(env, povsArray);
   CriticalJSpan<jlong> jButtons(env, buttonsAndMetadataArray);
 
   static_assert(sizeof(jAxes[0]) == sizeof(axes[0].axes[0]));
@@ -288,14 +285,14 @@ Java_edu_wpi_first_hal_DriverStationJNI_setJoystickOutputs
 
 /*
  * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickIsXbox
+ * Method:    getJoystickIsGamepad
  * Signature: (B)I
  */
 JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickIsXbox
+Java_edu_wpi_first_hal_DriverStationJNI_getJoystickIsGamepad
   (JNIEnv*, jclass, jbyte port)
 {
-  return HAL_GetJoystickIsXbox(port);
+  return HAL_GetJoystickIsGamepad(port);
 }
 
 /*

hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp

@@ -452,15 +452,15 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
 /*
  * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
  * Method:    setJoystickPOVs
- * Signature: (B[S)V
+ * Signature: (B[B)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
-  (JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
+  (JNIEnv* env, jclass, jbyte joystickNum, jbyteArray povsArray)
 {
   HAL_JoystickPOVs povs;
   {
-    JSpan<const jshort> jArrayRef(env, povsArray);
+    JSpan<const jbyte> jArrayRef(env, povsArray);
     auto arrayRef = jArrayRef.array();
     auto arraySize = arrayRef.size();
     int maxCount =
@@ -701,14 +701,14 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtonCount
 
 /*
  * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
- * Method:    setJoystickIsXbox
+ * Method:    setJoystickIsGamepad
  * Signature: (IZ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickIsXbox
-  (JNIEnv*, jclass, jint stick, jboolean isXbox)
+Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickIsGamepad
+  (JNIEnv*, jclass, jint stick, jboolean isGamepad)
 {
-  HALSIM_SetJoystickIsXbox(stick, isXbox);
+  HALSIM_SetJoystickIsGamepad(stick, isGamepad);
 }
 
 /*

hal/src/main/native/cpp/proto/ControlDataProto.cpp

@@ -2,9 +2,6 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <string>
-#include <utility>
-
 #include <wpi/protobuf/ProtobufCallbacks.h>
 
 #include "hal/proto/ControlData.h"
@@ -13,6 +10,8 @@ static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
 
 namespace {
 constexpr uint32_t EnabledMask = 0x1;
+constexpr uint32_t AutoMask = 0x2;
+constexpr uint32_t TestMask = 0x4;
 constexpr uint32_t EStopMask = 0x8;
 constexpr uint32_t FmsConnectedMask = 0x10;
 constexpr uint32_t DsConnectedMask = 0x20;
@@ -20,6 +19,8 @@ constexpr uint32_t WatchdogActiveMask = 0x40;
 constexpr uint32_t AllianceMask = 0x1F80;
 
 constexpr uint32_t EnabledShift = 0;
+constexpr uint32_t AutoShift = 1;
+constexpr uint32_t TestShift = 2;
 constexpr uint32_t EStopShift = 3;
 constexpr uint32_t FmsConnectedShift = 4;
 constexpr uint32_t DsConnectedShift = 5;
@@ -31,6 +32,8 @@ constexpr uint32_t AllianceShift = 7;
 constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
   uint32_t Ret = 0;
   WORD_TO_INT(Enabled);
+  WORD_TO_INT(Auto);
+  WORD_TO_INT(Test);
   WORD_TO_INT(EStop);
   WORD_TO_INT(FmsConnected);
   WORD_TO_INT(DsConnected);
@@ -46,6 +49,8 @@ constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
 constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
   mrc::ControlFlags Ret = {};
   INT_TO_WORD(Enabled);
+  INT_TO_WORD(Auto);
+  INT_TO_WORD(Test);
   INT_TO_WORD(EStop);
   INT_TO_WORD(FmsConnected);
   INT_TO_WORD(DsConnected);
@@ -59,13 +64,12 @@ constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
 std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
     InputStream& Stream) {
   wpi::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
-  wpi::UnpackCallback<std::string> OpModeCb;
 
   mrc_proto_ProtobufControlData Msg{
       .ControlWord = 0,
       .MatchTime = 0,
       .Joysticks = JoystickCb.Callback(),
-      .OpMode = OpModeCb.Callback(),
+      .CurrentOpMode = 0,
   };
 
   if (!Stream.Decode(Msg)) {
@@ -73,16 +77,12 @@ std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
   }
 
   auto Joysticks = JoystickCb.Items();
-  auto OpMode = OpModeCb.Items();
 
   mrc::ControlData ControlData;
 
-  if (!OpMode.empty()) {
-    ControlData.MoveOpMode(std::move(OpMode[0]));
-  }
-
   ControlData.ControlWord = ToControlWord(Msg.ControlWord);
   ControlData.MatchTime = Msg.MatchTime;
+  ControlData.CurrentOpMode = Msg.CurrentOpMode;
   ControlData.SetJoystickCount(Joysticks.size());
 
   for (size_t i = 0; i < ControlData.GetJoystickCount(); i++) {
@@ -94,8 +94,6 @@ std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
 
 bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
                                            const mrc::ControlData& Value) {
-  std::string_view OpMode = Value.GetOpMode();
-  wpi::PackCallback OpModeCb{&OpMode};
   std::span<const mrc::Joystick> Sticks = Value.Joysticks();
   wpi::PackCallback Joysticks{Sticks};
 
@@ -103,7 +101,7 @@ bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
       .ControlWord = FromControlWord(Value.ControlWord),
       .MatchTime = Value.MatchTime,
       .Joysticks = Joysticks.Callback(),
-      .OpMode = OpModeCb.Callback(),
+      .CurrentOpMode = Value.CurrentOpMode,
   };
 
   return Stream.Encode(Msg);
@@ -111,14 +109,14 @@ bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
 
 std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
     InputStream& Stream) {
-  wpi::UnpackCallback<float, MRC_MAX_NUM_AXES> AxesCb;
-  wpi::UnpackCallback<int16_t, MRC_MAX_NUM_POVS> PovsCb;
+  wpi::UnpackCallback<int16_t, MRC_MAX_NUM_AXES> AxesCb;
 
   mrc_proto_ProtobufJoystickData Msg{
       .ButtonCount = 0,
       .Buttons = 0,
       .Axes = AxesCb.Callback(),
-      .POVs = PovsCb.Callback(),
+      .POVCount = 0,
+      .POVs = 0,
   };
 
   if (!Stream.Decode(Msg)) {
@@ -126,7 +124,6 @@ std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
   }
 
   auto Axes = AxesCb.Items();
-  auto Povs = PovsCb.Items();
 
   mrc::Joystick Joystick;
   Joystick.Axes.SetCount(Axes.size());
@@ -135,28 +132,36 @@ std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
     Joystick.Axes.Axes()[i] = Axes[i];
   }
 
-  Joystick.Povs.SetCount(Povs.size());
-
-  for (size_t i = 0; i < Joystick.Povs.GetCount(); i++) {
-    Joystick.Povs.Povs()[i] = Povs[i];
-  }
-
   Joystick.Buttons.SetCount(Msg.ButtonCount);
   Joystick.Buttons.Buttons = Msg.Buttons;
 
+  Joystick.Povs.SetCount(Msg.POVCount);
+  uint32_t PovsStore = Msg.POVs;
+  for (size_t i = 0; i < Joystick.Povs.GetCount(); i++) {
+    uint8_t Val = PovsStore & 0xF;
+    PovsStore >>= 4;
+    Joystick.Povs.Povs()[i] = Val;
+  }
+
   return Joystick;
 }
 
 bool wpi::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
                                         const mrc::Joystick& Value) {
   wpi::PackCallback AxesCb{Value.Axes.Axes()};
-  wpi::PackCallback PovsCb{Value.Povs.Povs()};
+
+  uint32_t PovsStore = 0;
+  for (size_t i = 0; i < Value.Povs.GetCount(); i++) {
+    PovsStore <<= 4;
+    PovsStore |= Value.Povs.Povs()[i] & 0xF;
+  }
 
   mrc_proto_ProtobufJoystickData Msg{
       .ButtonCount = static_cast<uint32_t>(Value.Buttons.GetCount()),
       .Buttons = Value.Buttons.Buttons,
       .Axes = AxesCb.Callback(),
-      .POVs = PovsCb.Callback(),
+      .POVCount = static_cast<uint32_t>(Value.Povs.GetCount()),
+      .POVs = PovsStore,
   };
 
   return Stream.Encode(Msg);

hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp

@@ -41,8 +41,9 @@ wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
   OutputData.SetPovsCount(Msg.PovCount);
   OutputData.SetButtonsCount(Msg.ButtonCount);
 
-  OutputData.IsXbox = Msg.IsXbox ? 1 : 0;
+  OutputData.IsGamepad = Msg.IsGamepad ? 1 : 0;
   OutputData.Type = Msg.JoystickType;
+  OutputData.RumbleCount = Msg.RumbleCount;
 
   return OutputData;
 }
@@ -58,10 +59,11 @@ bool wpi::Protobuf<mrc::JoystickDescriptor>::Pack(
   mrc_proto_ProtobufJoystickDescriptor Msg{
       .JoystickName = JoystickNameCb.Callback(),
       .AxisTypes = AxisTypesCb.Callback(),
-      .IsXbox = Value.IsXbox ? true : false,
+      .IsGamepad = Value.IsGamepad ? true : false,
       .JoystickType = Value.Type,
       .ButtonCount = static_cast<int32_t>(Value.GetButtonsCount()),
       .PovCount = static_cast<int32_t>(Value.GetPovsCount()),
+      .RumbleCount = Value.RumbleCount,
   };
 
   return Stream.Encode(Msg);

hal/src/main/native/cpp/proto/JoystickOutputDataProto.cpp

@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <wpi/protobuf/ProtobufCallbacks.h>
-
-#include "hal/proto/JoystickOutputData.h"
-
-std::optional<mrc::JoystickOutputData>
-wpi::Protobuf<mrc::JoystickOutputData>::Unpack(InputStream& Stream) {
-  mrc_proto_ProtobufJoystickOutputData Msg;
-
-  if (!Stream.Decode(Msg)) {
-    return {};
-  }
-
-  return mrc::JoystickOutputData{
-      .HidOutputs = Msg.HidOutputs,
-      .LeftRumble = Msg.LeftRumble,
-      .RightRumble = Msg.RightRumble,
-  };
-}
-
-bool wpi::Protobuf<mrc::JoystickOutputData>::Pack(
-    OutputStream& Stream, const mrc::JoystickOutputData& Value) {
-  mrc_proto_ProtobufJoystickOutputData Msg{
-      .HidOutputs = Value.HidOutputs,
-      .LeftRumble = Value.LeftRumble,
-      .RightRumble = Value.RightRumble,
-  };
-
-  return Stream.Encode(Msg);
-}

hal/src/main/native/cpp/proto/JoystickRumbleDataProto.cpp

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/JoystickRumbleData.h"
+
+std::optional<mrc::JoystickRumbleData>
+wpi::Protobuf<mrc::JoystickRumbleData>::Unpack(InputStream& Stream) {
+  wpi::UnpackCallback<uint16_t, MRC_MAX_NUM_RUMBLE> RumbleCb;
+
+  mrc_proto_ProtobufJoystickRumbleData Msg{
+      .Value = RumbleCb.Callback(),
+  };
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Rumbles = RumbleCb.Items();
+
+  mrc::JoystickRumbleData Rumble;
+  Rumble.SetCount(Rumbles.size());
+
+  for (size_t i = 0; i < Rumble.GetCount(); i++) {
+    Rumble.Rumbles()[i] = Rumbles[i];
+  }
+
+  return Rumble;
+}
+
+bool wpi::Protobuf<mrc::JoystickRumbleData>::Pack(
+    OutputStream& Stream, const mrc::JoystickRumbleData& Value) {
+  wpi::PackCallback RumbleCb{Value.Rumbles()};
+
+  mrc_proto_ProtobufJoystickRumbleData Msg{
+      .Value = RumbleCb.Callback(),
+  };
+
+  return Stream.Encode(Msg);
+}

hal/src/main/native/cpp/proto/OpModeProto.cpp

@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <wpi/protobuf/ProtobufCallbacks.h>
+
+#include "hal/proto/OpMode.h"
+
+std::optional<mrc::OpMode> wpi::Protobuf<mrc::OpMode>::Unpack(
+    InputStream& Stream) {
+  wpi::UnpackCallback<std::string> NameCb;
+
+  mrc_proto_ProtobufOpMode Msg;
+  Msg.Name = NameCb.Callback();
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  auto Name = NameCb.Items();
+
+  if (Name.empty()) {
+    return {};
+  }
+
+  mrc::OpMode OutputData;
+  OutputData.MoveName(std::move(Name[0]));
+
+  OutputData.Hash = Msg.Hash;
+
+  return OutputData;
+}
+
+bool wpi::Protobuf<mrc::OpMode>::Pack(OutputStream& Stream,
+                                      const mrc::OpMode& Value) {
+  std::string_view EventNameStr = Value.GetName();
+  wpi::PackCallback EventName{&EventNameStr};
+
+  mrc_proto_ProtobufOpMode Msg{
+      .Hash = Value.Hash,
+      .Name = EventName.Callback(),
+  };
+
+  return Stream.Encode(Msg);
+}
+
+std::optional<std::vector<mrc::OpMode>>
+wpi::Protobuf<std::vector<mrc::OpMode>>::Unpack(InputStream& Stream) {
+  wpi::StdVectorUnpackCallback<mrc::OpMode> ModesCb;
+  ModesCb.SetLimits(DecodeLimits::Add);
+
+  mrc_proto_ProtobufAvailableOpModes Msg;
+  Msg.Modes = ModesCb.Callback();
+
+  if (!Stream.Decode(Msg)) {
+    return {};
+  }
+
+  return ModesCb.Vec();
+}
+
+bool wpi::Protobuf<std::vector<mrc::OpMode>>::Pack(
+    OutputStream& Stream, const std::vector<mrc::OpMode>& Value) {
+  std::span<const mrc::OpMode> ModesSpan = Value;
+  wpi::PackCallback Modes{ModesSpan};
+
+  mrc_proto_ProtobufAvailableOpModes Msg{
+      .Modes = Modes.Callback(),
+  };
+
+  return Stream.Encode(Msg);
+}

hal/src/main/native/cpp/proto/VersionInfoProto.cpp

@@ -1,56 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <string>
-#include <utility>
-
-#include <wpi/protobuf/ProtobufCallbacks.h>
-
-#include "hal/proto/VersionInfo.h"
-
-std::optional<mrc::VersionInfo> wpi::Protobuf<mrc::VersionInfo>::Unpack(
-    InputStream& Stream) {
-  wpi::UnpackCallback<std::string> NameCb;
-  wpi::UnpackCallback<std::string> VersionCb;
-
-  mrc_proto_ProtobufVersionInfo Msg{
-      .DeviceId = 0,
-      .Name = NameCb.Callback(),
-      .Version = VersionCb.Callback(),
-  };
-
-  if (!Stream.Decode(Msg)) {
-    return {};
-  }
-
-  auto Name = NameCb.Items();
-  auto Version = VersionCb.Items();
-
-  if (Name.empty() || Version.empty()) {
-    return {};
-  }
-
-  mrc::VersionInfo ToRet;
-
-  ToRet.DeviceId = Msg.DeviceId;
-  ToRet.MoveName(std::move(Name[0]));
-  ToRet.MoveVersion(std::move(Version[0]));
-
-  return ToRet;
-}
-
-bool wpi::Protobuf<mrc::VersionInfo>::Pack(OutputStream& Stream,
-                                           const mrc::VersionInfo& Value) {
-  std::string_view NameView = Value.GetName();
-  std::string_view VersionView = Value.GetVersion();
-  wpi::PackCallback NameCb{&NameView};
-  wpi::PackCallback VersionCb{&VersionView};
-
-  mrc_proto_ProtobufVersionInfo Msg{
-      .DeviceId = Value.DeviceId,
-      .Name = NameCb.Callback(),
-      .Version = VersionCb.Callback(),
-  };
-  return Stream.Encode(Msg);
-}