Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +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

121
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
View File

@@ -178,7 +178,7 @@ struct RobotJoystick {
void SetHAL(int i);
void GetHAL(int i);
bool IsButtonPressed(int i) {
return (data.buttons.buttons & (1u << i)) != 0;
return (data.buttons.buttons & (1llu << i)) != 0;
}
};
@@ -294,7 +294,7 @@ static inline bool IsDSDisabled() {
JoystickModel::JoystickModel(int index) : m_index{index} {
HAL_JoystickAxes halAxes;
HALSIM_GetJoystickAxes(index, &halAxes);
axisCount = halAxes.count;
axisCount = static_cast<uint8_t>(16 - std::countl_zero(halAxes.available));
for (int i = 0; i < axisCount; ++i) {
axes[i] = std::make_unique<glass::DoubleSource>(
fmt::format("Joystick[{}] Axis[{}]", index, i));
@@ -302,18 +302,19 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
HAL_JoystickButtons halButtons;
HALSIM_GetJoystickButtons(index, &halButtons);
buttonCount = halButtons.count;
buttonCount =
static_cast<uint8_t>(64 - std::countl_zero(halButtons.available));
for (int i = 0; i < buttonCount; ++i) {
buttons[i] = new glass::BooleanSource(
fmt::format("Joystick[{}] Button[{}]", index, i + 1));
}
for (int i = buttonCount; i < 32; ++i) {
for (int i = buttonCount; i < 64; ++i) {
buttons[i] = nullptr;
}
HAL_JoystickPOVs halPOVs;
HALSIM_GetJoystickPOVs(index, &halPOVs);
povCount = halPOVs.count;
povCount = static_cast<uint8_t>(8 - std::countl_zero(halPOVs.available));
for (int i = 0; i < povCount; ++i) {
povs[i] = std::make_unique<glass::IntegerSource>(
fmt::format("Joystick[{}] POV [{}]", index, i));
@@ -328,7 +329,8 @@ void JoystickModel::CallbackFunc(const char*, void* param, const HAL_Value*) {
HAL_JoystickAxes halAxes;
HALSIM_GetJoystickAxes(self->m_index, &halAxes);
for (int i = 0; i < halAxes.count; ++i) {
int halAxesCount = 16 - std::countl_zero(halAxes.available);
for (int i = 0; i < halAxesCount; ++i) {
if (auto axis = self->axes[i].get()) {
axis->SetValue(halAxes.axes[i]);
}
@@ -336,15 +338,17 @@ void JoystickModel::CallbackFunc(const char*, void* param, const HAL_Value*) {
HAL_JoystickButtons halButtons;
HALSIM_GetJoystickButtons(self->m_index, &halButtons);
for (int i = 0; i < halButtons.count; ++i) {
int halButtonCount = 64 - std::countl_zero(halButtons.available);
for (int i = 0; i < halButtonCount; ++i) {
if (auto button = self->buttons[i]) {
button->SetValue((halButtons.buttons & (1u << i)) != 0 ? 1 : 0);
button->SetValue((halButtons.buttons & (1llu << i)) != 0 ? 1 : 0);
}
}
HAL_JoystickPOVs halPOVs;
HALSIM_GetJoystickPOVs(self->m_index, &halPOVs);
for (int i = 0; i < halPOVs.count; ++i) {
int halPovCount = 8 - std::countl_zero(halPOVs.available);
for (int i = 0; i < halPovCount; ++i) {
if (auto pov = self->povs[i].get()) {
pov->SetValue(halPOVs.povs[i]);
}
@@ -419,17 +423,22 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
data->desc.type = m_isGamepad ? 21 : 20;
std::strncpy(data->desc.name, m_name, sizeof(data->desc.name) - 1);
data->desc.name[sizeof(data->desc.name) - 1] = '\0';
data->desc.axisCount = (std::min)(m_axisCount, HAL_kMaxJoystickAxes);
// desc.axisTypes ???
data->desc.buttonCount = (std::min)(m_buttonCount, 32);
data->desc.povCount = (std::min)(m_hatCount, HAL_kMaxJoystickPOVs);
int axesCount = (std::min)(m_axisCount, HAL_kMaxJoystickAxes);
int buttonCount = (std::min)(m_buttonCount, 64);
int povsCount = (std::min)(m_hatCount, HAL_kMaxJoystickPOVs);
data->buttons.count = data->desc.buttonCount;
for (int j = 0; j < data->buttons.count; ++j) {
if (buttonCount < 64) {
data->buttons.available = (1ULL << buttonCount) - 1;
} else {
data->buttons.available = (std::numeric_limits<uint64_t>::max)();
}
data->axes.available = (1 << axesCount) - 1;
data->povs.available = (1 << povsCount) - 1;
for (int j = 0; j < buttonCount; ++j) {
data->buttons.buttons |= (sysButtons[j] ? 1u : 0u) << j;
}
data->axes.count = data->desc.axisCount;
if (m_isGamepad && mapGamepad) {
// the FRC DriverStation maps gamepad (XInput) trigger values to 0-1 range
// on axis 2 and 3.
@@ -440,21 +449,12 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
data->axes.axes[4] = sysAxes[2];
data->axes.axes[5] = sysAxes[3];
// the start button for gamepads is not mapped on the FRC DriverStation
// platforms, so remove it if present
if (data->buttons.count == 11) {
--data->desc.buttonCount;
--data->buttons.count;
data->buttons.buttons = (data->buttons.buttons & 0xff) |
((data->buttons.buttons >> 1) & 0x300);
}
} else {
std::memcpy(data->axes.axes, sysAxes,
data->axes.count * sizeof(data->axes.axes[0]));
axesCount * sizeof(data->axes.axes[0]));
}
data->povs.count = data->desc.povCount;
for (int j = 0; j < data->povs.count; ++j) {
for (int j = 0; j < povsCount; ++j) {
#if __GNUC__ >= 12
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wstringop-overflow="
@@ -706,20 +706,27 @@ void KeyboardJoystick::Update() {
m_povCount = 0;
}
m_data.axes.count =
int axesCount =
(std::min)(m_axisCount, static_cast<int>(m_axisConfig.size()));
m_data.buttons.count =
int buttonsCount =
(std::min)(m_buttonCount, static_cast<int>(m_buttonKey.size()));
m_data.povs.count =
(std::min)(m_povCount, static_cast<int>(m_povConfig.size()));
int povsCount = (std::min)(m_povCount, static_cast<int>(m_povConfig.size()));
if (m_data.axes.count > 0 || m_data.buttons.count > 0 ||
m_data.povs.count > 0) {
m_data.axes.available = (1 << axesCount) - 1;
m_data.povs.available = (1 << povsCount) - 1;
if (buttonsCount >= 64) {
m_data.buttons.available = (std::numeric_limits<uint64_t>::max)();
} else {
m_data.buttons.available = (1u << buttonsCount) - 1;
}
if (m_data.axes.available > 0 || m_data.buttons.available > 0 ||
m_data.povs.available > 0) {
m_present = true;
}
// axes
for (int i = 0; i < m_data.axes.count; ++i) {
for (int i = 0; i < axesCount; ++i) {
auto& config = m_axisConfig[i];
float& axisValue = m_data.axes.axes[i];
// increase/decrease while key held down (to saturation); decay back to 0
@@ -753,15 +760,15 @@ void KeyboardJoystick::Update() {
// buttons
m_data.buttons.buttons = 0;
m_anyButtonPressed = false;
for (int i = 0; i < m_data.buttons.count; ++i) {
for (int i = 0; i < buttonsCount; ++i) {
if (IsKeyDown(io, m_buttonKey[i])) {
m_data.buttons.buttons |= 1u << i;
m_data.buttons.buttons |= 1llu << i;
m_anyButtonPressed = true;
}
}
// povs
for (int i = 0; i < m_data.povs.count; ++i) {
for (int i = 0; i < povsCount; ++i) {
auto& config = m_povConfig[i];
auto& povValue = m_data.povs.povs[i];
povValue = HAL_JoystickPOV_kCentered;
@@ -791,11 +798,6 @@ void KeyboardJoystick::Update() {
break;
}
}
// update desc
m_data.desc.axisCount = m_data.axes.count;
m_data.desc.buttonCount = m_data.buttons.count;
m_data.desc.povCount = m_data.povs.count;
}
void KeyboardJoystick::ClearKey(int key) {
@@ -1010,10 +1012,20 @@ static void DriverStationExecute() {
// update sources
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
auto& source = gJoystickSources[i];
int32_t axisCount, buttonCount, povCount;
HALSIM_GetJoystickCounts(i, &axisCount, &buttonCount, &povCount);
if (axisCount != 0 || buttonCount != 0 || povCount != 0) {
if (!source || source->axisCount != axisCount ||
uint16_t axesAvailable;
uint8_t povsAvailable;
uint64_t buttonsAvailable;
HALSIM_GetJoystickAvailables(i, &axesAvailable, &buttonsAvailable,
&povsAvailable);
if (axesAvailable != 0 || buttonsAvailable != 0 || povsAvailable != 0) {
uint8_t axesCount =
static_cast<uint8_t>(16 - std::countl_zero(axesAvailable));
uint8_t buttonCount =
static_cast<uint8_t>(64 - std::countl_zero(buttonsAvailable));
uint8_t povCount =
static_cast<uint8_t>(8 - std::countl_zero(povsAvailable));
if (!source || source->axisCount != axesCount ||
source->buttonCount != buttonCount || source->povCount != povCount) {
source.reset();
source = std::make_unique<JoystickModel>(i);
@@ -1321,7 +1333,10 @@ static void DisplayJoysticks() {
}
}
for (int j = 0; j < joy.data.axes.count; ++j) {
uint8_t axesCount =
static_cast<uint8_t>(16 - std::countl_zero(joy.data.axes.available));
for (int j = 0; j < axesCount; ++j) {
if (source && source->axes[j]) {
char label[64];
wpi::format_to_n_c_str(label, sizeof(label), "Axis[{}]", j);
@@ -1335,7 +1350,10 @@ static void DisplayJoysticks() {
}
}
for (int j = 0; j < joy.data.povs.count; ++j) {
uint8_t povCount =
static_cast<uint8_t>(16 - std::countl_zero(joy.data.povs.available));
for (int j = 0; j < povCount; ++j) {
if (source && source->povs[j]) {
char label[64];
wpi::format_to_n_c_str(label, sizeof(label), "POVs[{}]", j);
@@ -1349,11 +1367,14 @@ static void DisplayJoysticks() {
}
}
uint8_t buttonCount = static_cast<uint8_t>(
64 - std::countl_zero(joy.data.buttons.available));
// show buttons as multiple lines of LED indicators, 8 per line
static const ImU32 color = IM_COL32(255, 255, 102, 255);
wpi::SmallVector<int, 64> buttons;
buttons.resize(joy.data.buttons.count);
for (int j = 0; j < joy.data.buttons.count; ++j) {
buttons.resize(buttonCount);
for (int j = 0; j < buttonCount; ++j) {
buttons[j] = joy.IsButtonPressed(j) ? 1 : -1;
}
DrawLEDSources(buttons.data(), source ? source->buttons : nullptr,