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

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This commit is contained in:
Thad House
2025-05-16 22:15:14 -07:00
committed by GitHub
parent 1596e2fd7a
commit 231ec348fe
35 changed files with 878 additions and 766 deletions
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33
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -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);
}
/*