Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

32
hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
View File

@@ -24,18 +24,18 @@ TEST(DriverStationTest, Joystick) {
HAL_GetJoystickPOVs(joystickNum, &povs);
HAL_GetJoystickButtons(joystickNum, &buttons);
EXPECT_EQ(0, axes.count);
EXPECT_EQ(0, axes.available);
for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
EXPECT_EQ(0, axes.axes[i]);
}
EXPECT_EQ(0, povs.count);
EXPECT_EQ(0, povs.available);
for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
EXPECT_EQ(0, povs.povs[i]);
}
EXPECT_EQ(0, buttons.count);
EXPECT_EQ(0u, buttons.buttons);
EXPECT_EQ(0llu, buttons.available);
EXPECT_EQ(0llu, buttons.buttons);
}
HAL_JoystickAxes set_axes;
@@ -47,17 +47,17 @@ TEST(DriverStationTest, Joystick) {
// Set values
int joystickUnderTest = 4;
set_axes.count = 5;
for (int i = 0; i < set_axes.count; ++i) {
set_axes.available = 0x1F;
for (int i = 0; i < 5; ++i) {
set_axes.axes[i] = i * 0.125;
}
set_povs.count = 3;
set_povs.available = 0x7;
set_povs.povs[0] = HAL_JoystickPOV_kUp;
set_povs.povs[1] = HAL_JoystickPOV_kRight;
set_povs.povs[2] = HAL_JoystickPOV_kDown;
set_buttons.count = 8;
set_buttons.available = 0xFF;
set_buttons.buttons = 0xDEADBEEF;
HALSIM_SetJoystickAxes(joystickUnderTest, &set_axes);
@@ -72,7 +72,7 @@ TEST(DriverStationTest, Joystick) {
HAL_GetJoystickPOVs(joystickUnderTest, &povs);
HAL_GetJoystickButtons(joystickUnderTest, &buttons);
EXPECT_EQ(5, axes.count);
EXPECT_EQ(0x1F, axes.available);
EXPECT_NEAR(0.000, axes.axes[0], 0.000001);
EXPECT_NEAR(0.125, axes.axes[1], 0.000001);
EXPECT_NEAR(0.250, axes.axes[2], 0.000001);
@@ -81,7 +81,7 @@ TEST(DriverStationTest, Joystick) {
EXPECT_NEAR(0, axes.axes[5], 0.000001); // Should not have been set, still 0
EXPECT_NEAR(0, axes.axes[6], 0.000001); // Should not have been set, still 0
EXPECT_EQ(3, povs.count);
EXPECT_EQ(0x7, povs.available);
EXPECT_EQ(HAL_JoystickPOV_kUp, povs.povs[0]);
EXPECT_EQ(HAL_JoystickPOV_kRight, povs.povs[1]);
EXPECT_EQ(HAL_JoystickPOV_kDown, povs.povs[2]);
@@ -90,8 +90,8 @@ TEST(DriverStationTest, Joystick) {
EXPECT_EQ(0, povs.povs[5]); // Should not have been set, still 0
EXPECT_EQ(0, povs.povs[6]); // Should not have been set, still 0
EXPECT_EQ(8, buttons.count);
EXPECT_EQ(0xDEADBEEFu, buttons.buttons);
EXPECT_EQ(0xFFllu, buttons.available);
EXPECT_EQ(0xDEADBEEFllu, buttons.buttons);
// Reset
HALSIM_ResetDriverStationData();
@@ -103,18 +103,18 @@ TEST(DriverStationTest, Joystick) {
HAL_GetJoystickPOVs(joystickNum, &povs);
HAL_GetJoystickButtons(joystickNum, &buttons);
EXPECT_EQ(0, axes.count);
EXPECT_EQ(0, axes.available);
for (int i = 0; i < HAL_kMaxJoystickAxes; ++i) {
EXPECT_EQ(0, axes.axes[i]);
}
EXPECT_EQ(0, povs.count);
EXPECT_EQ(0, povs.available);
for (int i = 0; i < HAL_kMaxJoystickPOVs; ++i) {
EXPECT_EQ(0, povs.povs[i]);
}
EXPECT_EQ(0, buttons.count);
EXPECT_EQ(0u, buttons.buttons);
EXPECT_EQ(0llu, buttons.available);
EXPECT_EQ(0llu, buttons.buttons);
}
}