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

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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.
This commit is contained in:
Thad House
2025-10-25 23:03:50 -07:00
committed by GitHub
parent 429698f508
commit 2e10f91e07
62 changed files with 6101 additions and 1066 deletions
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151
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -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