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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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66
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
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@@ -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