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

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);
+}