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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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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);