[hal,wpilib] Use new DS available API from mrccomm (#8302)

Instead of just having a max count for joystick values, there's an available mask of values. This is because in the future we're expecting there to be holes in the list of available buttons and axes. This updates everything to support that scenario. Also, Joystick buttons, axes, and POVs all now start at 0 instead of 1.
2026-06-20 00:51:42 +00:00 · 2025-10-25 23:03:50 -07:00
parent 429698f508
commit 2e10f91e07
62 changed files with 6101 additions and 1066 deletions
--- a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
@@ -133,142 +133,39 @@ Java_edu_wpi_first_hal_DriverStationJNI_nativeGetAllianceStation
  return static_cast<jint>(allianceStation);
 }

-/*
- * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickAxesRaw
- * Signature: (B[S)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxesRaw
-  (JNIEnv* env, jclass, jbyte joystickNum, jshortArray axesRawArray)
-{
-  HAL_JoystickAxes axes;
-  HAL_GetJoystickAxes(joystickNum, &axes);
-
-  jsize javaSize = env->GetArrayLength(axesRawArray);
-  if (axes.count > javaSize) {
-    ThrowIllegalArgumentException(
-        env,
-        fmt::format("Native array size larger then passed in java array "
-                    "size\nNative Size: {} Java Size: {}",
-                    static_cast<int>(axes.count), static_cast<int>(javaSize)));
-    return 0;
-  }
-
-  env->SetShortArrayRegion(axesRawArray, 0, axes.count, axes.raw);
-
-  return axes.count;
-}
-
-/*
- * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickAxes
- * Signature: (B[F)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxes
-  (JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
-{
-  HAL_JoystickAxes axes;
-  HAL_GetJoystickAxes(joystickNum, &axes);
-
-  jsize javaSize = env->GetArrayLength(axesArray);
-  if (axes.count > javaSize) {
-    ThrowIllegalArgumentException(
-        env,
-        fmt::format("Native array size larger then passed in java array "
-                    "size\nNative Size: {} Java Size: {}",
-                    static_cast<int>(axes.count), static_cast<int>(javaSize)));
-    return 0;
-  }
-
-  env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
-
-  return axes.count;
-}
-
-/*
- * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickPOVs
- * Signature: (B[B)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickPOVs
-  (JNIEnv* env, jclass, jbyte joystickNum, jbyteArray povsArray)
-{
-  HAL_JoystickPOVs povs;
-  HAL_GetJoystickPOVs(joystickNum, &povs);
-
-  jsize javaSize = env->GetArrayLength(povsArray);
-  if (povs.count > javaSize) {
-    ThrowIllegalArgumentException(
-        env,
-        fmt::format("Native array size larger then passed in java array "
-                    "size\nNative Size: {} Java Size: {}",
-                    static_cast<int>(povs.count), static_cast<int>(javaSize)));
-    return 0;
-  }
-
-  env->SetByteArrayRegion(povsArray, 0, povs.count,
-                          reinterpret_cast<const jbyte*>(povs.povs));
-
-  return povs.count;
-}
-
 /*
 * Class:     edu_wpi_first_hal_DriverStationJNI
 * Method:    getAllJoystickData
- * Signature: ([F[S[B[J)V
+ * Signature: (I[F[S[B[J)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
-  (JNIEnv* env, jclass cls, jfloatArray axesArray, jshortArray rawAxesArray,
-   jbyteArray povsArray, jlongArray buttonsAndMetadataArray)
+  (JNIEnv* env, jclass cls, jint stick, jfloatArray axesArray,
+   jshortArray rawAxesArray, jbyteArray povsArray,
+   jlongArray buttonsAndMetadataArray)
 {
-  HAL_JoystickAxes axes[HAL_kMaxJoysticks];
-  HAL_JoystickPOVs povs[HAL_kMaxJoysticks];
-  HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
+  HAL_JoystickAxes axes;
+  HAL_JoystickPOVs povs;
+  HAL_JoystickButtons buttons;

-  HAL_GetAllJoystickData(axes, povs, buttons);
+  HAL_GetAllJoystickData(stick, &axes, &povs, &buttons);

  CriticalJSpan<jfloat> jAxes(env, axesArray);
  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]));
-  static_assert(sizeof(jRawAxes[0]) == sizeof(axes[0].raw[0]));
-  static_assert(sizeof(jPovs[0]) == sizeof(povs[0].povs[0]));
+  static_assert(sizeof(jAxes[0]) == sizeof(axes.axes[0]));
+  static_assert(sizeof(jRawAxes[0]) == sizeof(axes.raw[0]));
+  static_assert(sizeof(jPovs[0]) == sizeof(povs.povs[0]));

-  for (size_t i = 0; i < HAL_kMaxJoysticks; i++) {
-    std::memcpy(&jAxes[i * HAL_kMaxJoystickAxes], axes[i].axes,
-                sizeof(axes[i].axes));
-    std::memcpy(&jRawAxes[i * HAL_kMaxJoystickAxes], axes[i].raw,
-                sizeof(axes[i].raw));
-    std::memcpy(&jPovs[i * HAL_kMaxJoystickPOVs], povs[i].povs,
-                sizeof(povs[i].povs));
-    jButtons[i * 4] = axes[i].count;
-    jButtons[(i * 4) + 1] = povs[i].count;
-    jButtons[(i * 4) + 2] = buttons[i].count;
-    jButtons[(i * 4) + 3] = buttons[i].buttons;
-  }
-}
-
-/*
- * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickButtons
- * Signature: (BLjava/lang/Object;)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickButtons
-  (JNIEnv* env, jclass, jbyte joystickNum, jobject count)
-{
-  HAL_JoystickButtons joystickButtons;
-  HAL_GetJoystickButtons(joystickNum, &joystickButtons);
-  jbyte* countPtr =
-      reinterpret_cast<jbyte*>(env->GetDirectBufferAddress(count));
-  *countPtr = joystickButtons.count;
-  return joystickButtons.buttons;
+  std::memcpy(&jAxes[0], axes.axes, sizeof(axes.axes));
+  std::memcpy(&jRawAxes[0], axes.raw, sizeof(axes.raw));
+  std::memcpy(&jPovs[0], povs.povs, sizeof(povs.povs));
+  jButtons[0] = axes.available;
+  jButtons[1] = povs.available;
+  jButtons[2] = buttons.available;
+  jButtons[3] = buttons.buttons;
 }

 /*
@@ -323,18 +220,6 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickName
  return str;
 }

-/*
- * Class:     edu_wpi_first_hal_DriverStationJNI
- * Method:    getJoystickAxisType
- * Signature: (BB)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxisType
-  (JNIEnv*, jclass, jbyte joystickNum, jbyte axis)
-{
-  return HAL_GetJoystickAxisType(joystickNum, axis);
-}
-
 /*
 * Class:     edu_wpi_first_hal_DriverStationJNI
 * Method:    getMatchTime
--- a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -427,11 +427,12 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setMatchTime
 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
 * Method:    setJoystickAxes
- * Signature: (B[F)V
+ * Signature: (B[FS)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
-  (JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
+  (JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray,
+   jshort availableAxes)
 {
  HAL_JoystickAxes axes;
  {
@@ -440,7 +441,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
    auto arraySize = arrayRef.size();
    int maxCount =
        arraySize < HAL_kMaxJoystickAxes ? arraySize : HAL_kMaxJoystickAxes;
-    axes.count = maxCount;
+    axes.available = availableAxes;
    for (int i = 0; i < maxCount; i++) {
      axes.axes[i] = arrayRef[i];
    }
@@ -452,11 +453,12 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
 * Method:    setJoystickPOVs
- * Signature: (B[B)V
+ * Signature: (B[BS)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
-  (JNIEnv* env, jclass, jbyte joystickNum, jbyteArray povsArray)
+  (JNIEnv* env, jclass, jbyte joystickNum, jbyteArray povsArray,
+   jshort availablePovs)
 {
  HAL_JoystickPOVs povs;
  {
@@ -465,7 +467,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
    auto arraySize = arrayRef.size();
    int maxCount =
        arraySize < HAL_kMaxJoystickPOVs ? arraySize : HAL_kMaxJoystickPOVs;
-    povs.count = maxCount;
+    povs.available = availablePovs;
    for (int i = 0; i < maxCount; i++) {
      povs.povs[i] = static_cast<HAL_JoystickPOV>(arrayRef[i]);
    }
@@ -477,17 +479,15 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
 * Method:    setJoystickButtons
- * Signature: (BII)V
+ * Signature: (BJJ)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtons
-  (JNIEnv* env, jclass, jbyte joystickNum, jint buttons, jint count)
+  (JNIEnv* env, jclass, jbyte joystickNum, jlong buttons,
+   jlong availableButtons)
 {
-  if (count > 32) {
-    count = 32;
-  }
  HAL_JoystickButtons joystickButtons;
-  joystickButtons.count = count;
+  joystickButtons.available = availableButtons;
  joystickButtons.buttons = buttons;
  HALSIM_SetJoystickButtons(joystickNum, &joystickButtons);
 }
@@ -654,49 +654,49 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOV
 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
 * Method:    setJoystickButtonsValue
- * Signature: (II)V
+ * Signature: (IJ)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtonsValue
-  (JNIEnv*, jclass, jint stick, jint buttons)
+  (JNIEnv*, jclass, jint stick, jlong buttons)
 {
  HALSIM_SetJoystickButtonsValue(stick, buttons);
 }

 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
- * Method:    setJoystickAxisCount
+ * Method:    setJoystickAxesAvailable
 * Signature: (II)V
 */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxisCount
-  (JNIEnv*, jclass, jint stick, jint count)
+Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxesAvailable
+  (JNIEnv*, jclass, jint stick, jint available)
 {
-  HALSIM_SetJoystickAxisCount(stick, count);
+  HALSIM_SetJoystickAxesAvailable(stick, available);
 }

 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
- * Method:    setJoystickPOVCount
+ * Method:    setJoystickPOVsAvailable
 * Signature: (II)V
 */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVCount
-  (JNIEnv*, jclass, jint stick, jint count)
+Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVsAvailable
+  (JNIEnv*, jclass, jint stick, jint available)
 {
-  HALSIM_SetJoystickPOVCount(stick, count);
+  HALSIM_SetJoystickPOVsAvailable(stick, available);
 }

 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
- * Method:    setJoystickButtonCount
- * Signature: (II)V
+ * Method:    setJoystickButtonsAvailable
+ * Signature: (IJ)V
 */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtonCount
-  (JNIEnv*, jclass, jint stick, jint count)
+Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtonsAvailable
+  (JNIEnv*, jclass, jint stick, jlong available)
 {
-  HALSIM_SetJoystickButtonCount(stick, count);
+  HALSIM_SetJoystickButtonsAvailable(stick, available);
 }

 /*
@@ -737,18 +737,6 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickName
  HALSIM_SetJoystickName(stick, &str);
 }

-/*
- * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
- * Method:    setJoystickAxisType
- * Signature: (III)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxisType
-  (JNIEnv*, jclass, jint stick, jint axis, jint type)
-{
-  HALSIM_SetJoystickAxisType(stick, axis, type);
-}
-
 /*
 * Class:     edu_wpi_first_hal_simulation_DriverStationDataJNI
 * Method:    setGameSpecificMessage