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[hal,wpilib] Add Touchpad support (#8401)

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This commit is contained in:
Thad House
2025-11-21 13:57:11 -08:00
committed by GitHub
parent 8546d301e3
commit 32fc543dc8
34 changed files with 1319 additions and 437 deletions
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30
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -36,6 +36,11 @@ static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickPOVs ==
HAL_kMaxJoystickPOVs);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoysticks ==
HAL_kMaxJoysticks);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickTouchpads ==
HAL_kMaxJoystickTouchpads);
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickTouchpadFingers ==
HAL_kMaxJoystickTouchpadFingers);
using namespace wpi::hal;
using namespace wpi::util::java;
@@ -137,36 +142,55 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_nativeGetAllianceStation
/*
* Class: org_wpilib_hardware_hal_DriverStationJNI
* Method: getAllJoystickData
* Signature: (I[F[S[B[J)V
* Signature: (I[F[S[B[F[J)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_DriverStationJNI_getAllJoystickData
(JNIEnv* env, jclass cls, jint stick, jfloatArray axesArray,
jshortArray rawAxesArray, jbyteArray povsArray,
jlongArray buttonsAndMetadataArray)
jfloatArray touchpadFingersData, jlongArray buttonsAndMetadataArray)
{
HAL_JoystickAxes axes;
HAL_JoystickPOVs povs;
HAL_JoystickButtons buttons;
HAL_JoystickTouchpads touchpads;
HAL_GetAllJoystickData(stick, &axes, &povs, &buttons);
HAL_GetAllJoystickData(stick, &axes, &povs, &buttons, &touchpads);
CriticalJSpan<jfloat> jAxes(env, axesArray);
CriticalJSpan<jshort> jRawAxes(env, rawAxesArray);
CriticalJSpan<jbyte> jPovs(env, povsArray);
CriticalJSpan<jfloat> jTouchpadFingers(env, touchpadFingersData);
CriticalJSpan<jlong> jButtons(env, buttonsAndMetadataArray);
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]));
static_assert(sizeof(jTouchpadFingers[0]) ==
sizeof(touchpads.touchpads[0].fingers[0].x));
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));
jTouchpadFingers[0] = touchpads.touchpads[0].fingers[0].x;
jTouchpadFingers[1] = touchpads.touchpads[0].fingers[0].y;
jTouchpadFingers[2] = touchpads.touchpads[0].fingers[1].x;
jTouchpadFingers[3] = touchpads.touchpads[0].fingers[1].y;
jTouchpadFingers[4] = touchpads.touchpads[1].fingers[0].x;
jTouchpadFingers[5] = touchpads.touchpads[1].fingers[0].y;
jTouchpadFingers[6] = touchpads.touchpads[1].fingers[1].x;
jTouchpadFingers[7] = touchpads.touchpads[1].fingers[1].y;
jButtons[0] = axes.available;
jButtons[1] = povs.available;
jButtons[2] = buttons.available;
jButtons[3] = buttons.buttons;
jButtons[4] = touchpads.count;
jButtons[5] = (touchpads.touchpads[0].fingers[0].down ? 1 : 0) |
(touchpads.touchpads[0].fingers[1].down ? 2 : 0) |
(touchpads.touchpads[0].count << 2);
jButtons[6] = (touchpads.touchpads[1].fingers[0].down ? 1 : 0) |
(touchpads.touchpads[1].fingers[1].down ? 2 : 0) |
(touchpads.touchpads[1].count << 2);
}
/*

32
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
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@@ -710,6 +710,38 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickButtonsA
HALSIM_SetJoystickButtonsAvailable(stick, available);
}
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: setTouchpadCounts
* Signature: (II[I)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setTouchpadCounts
(JNIEnv* env, jclass, jint stick, jint touchpadCount, jintArray fingerCounts)
{
JSpan<const jint> jArrayRef(env, fingerCounts);
uint8_t fingerCountsLocal[2];
size_t toCopy = (std::min)(jArrayRef.size(), static_cast<size_t>(2));
for (size_t i = 0; i < toCopy; ++i) {
fingerCountsLocal[i] = static_cast<uint8_t>(jArrayRef[i]);
}
HALSIM_SetJoystickTouchpadCounts(stick, touchpadCount, fingerCountsLocal);
}
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: setTouchpadFinger
* Signature: (IIIZFF)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setTouchpadFinger
(JNIEnv*, jclass, jint stick, jint touchpadIndex, jint fingerIndex,
jboolean down, jfloat x, jfloat y)
{
HALSIM_SetJoystickTouchpadFinger(stick, touchpadIndex, fingerIndex, down, x,
y);
}
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: setJoystickIsGamepad

75
hal/src/main/native/cpp/proto/ControlDataProto.cpp
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@@ -111,6 +111,7 @@ bool wpi::util::Protobuf<mrc::ControlData>::Pack(
std::optional<mrc::Joystick> wpi::util::Protobuf<mrc::Joystick>::Unpack(
InputStream& Stream) {
wpi::util::UnpackCallback<int16_t, MRC_MAX_NUM_AXES> AxesCb;
wpi::util::UnpackCallback<mrc::Touchpad, MRC_MAX_NUM_TOUCHPADS> TouchpadCb;
mrc_proto_ProtobufJoystickData Msg{
.AvailableButtons = 0,
@@ -119,6 +120,7 @@ std::optional<mrc::Joystick> wpi::util::Protobuf<mrc::Joystick>::Unpack(
.Axes = AxesCb.Callback(),
.POVCount = 0,
.POVs = 0,
.Touchpads = TouchpadCb.Callback(),
};
if (!Stream.Decode(Msg)) {
@@ -126,6 +128,7 @@ std::optional<mrc::Joystick> wpi::util::Protobuf<mrc::Joystick>::Unpack(
}
auto Axes = AxesCb.Items();
auto Touchpads = TouchpadCb.Items();
mrc::Joystick Joystick;
Joystick.Axes.SetAvailable(Msg.AvailableAxes);
@@ -147,12 +150,18 @@ std::optional<mrc::Joystick> wpi::util::Protobuf<mrc::Joystick>::Unpack(
Joystick.Povs.Povs()[i] = Val;
}
Joystick.Touchpads.SetTouchpadCount(static_cast<uint8_t>(Touchpads.size()));
for (size_t i = 0; i < Joystick.Touchpads.GetTouchpadCount(); i++) {
Joystick.Touchpads.Touchpads()[i] = std::move(Touchpads[i]);
}
return Joystick;
}
bool wpi::util::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
const mrc::Joystick& Value) {
wpi::util::PackCallback AxesCb{Value.Axes.Axes()};
wpi::util::PackCallback TouchpadCb{Value.Touchpads.Touchpads()};
uint32_t PovsStore = 0;
for (int i = static_cast<int>(Value.Povs.GetCount()) - 1; i >= 0; i--) {
@@ -167,6 +176,72 @@ bool wpi::util::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
.Axes = AxesCb.Callback(),
.POVCount = static_cast<uint32_t>(Value.Povs.GetCount()),
.POVs = PovsStore,
.Touchpads = TouchpadCb.Callback(),
};
return Stream.Encode(Msg);
}
std::optional<mrc::TouchpadFinger>
wpi::util::Protobuf<mrc::TouchpadFinger>::Unpack(InputStream& Stream) {
mrc_proto_ProtobufFingerData Msg{
.X = 0,
.Y = 0,
.Down = false,
};
if (!Stream.Decode(Msg)) {
return {};
}
return mrc::TouchpadFinger{
.Down = Msg.Down,
.X = static_cast<uint16_t>(Msg.X),
.Y = static_cast<uint16_t>(Msg.Y),
};
}
bool wpi::util::Protobuf<mrc::TouchpadFinger>::Pack(
OutputStream& Stream, const mrc::TouchpadFinger& Value) {
mrc_proto_ProtobufFingerData Msg{
.X = Value.X,
.Y = Value.Y,
.Down = Value.Down,
};
return Stream.Encode(Msg);
}
std::optional<mrc::Touchpad> wpi::util::Protobuf<mrc::Touchpad>::Unpack(
InputStream& Stream) {
wpi::util::UnpackCallback<mrc::TouchpadFinger, MRC_MAX_NUM_TOUCHPAD_FINGERS>
FingersCb;
mrc_proto_ProtobufTouchpadData Msg{
.Fingers = FingersCb.Callback(),
};
if (!Stream.Decode(Msg)) {
return {};
}
auto Fingers = FingersCb.Items();
mrc::Touchpad Touchpad;
Touchpad.SetFingerCount(Fingers.size());
for (size_t i = 0; i < Touchpad.GetFingerCount(); i++) {
Touchpad.Fingers()[i] = Fingers[i];
}
return Touchpad;
}
bool wpi::util::Protobuf<mrc::Touchpad>::Pack(OutputStream& Stream,
const mrc::Touchpad& Value) {
wpi::util::PackCallback FingersCb{Value.Fingers()};
mrc_proto_ProtobufTouchpadData Msg{
.Fingers = FingersCb.Callback(),
};
return Stream.Encode(Msg);