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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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17
hal/src/main/native/sim/DriverStation.cpp
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@@ -42,6 +42,7 @@ struct JoystickDataCache {
HAL_JoystickAxes axes[kJoystickPorts];
HAL_JoystickPOVs povs[kJoystickPorts];
HAL_JoystickButtons buttons[kJoystickPorts];
HAL_JoystickTouchpads touchpads[kJoystickPorts];
HAL_AllianceStationID allianceStation;
double matchTime;
HAL_ControlWord controlWord;
@@ -64,6 +65,7 @@ void JoystickDataCache::Update() {
SimDriverStationData->GetJoystickAxes(i, &axes[i]);
SimDriverStationData->GetJoystickPOVs(i, &povs[i]);
SimDriverStationData->GetJoystickButtons(i, &buttons[i]);
SimDriverStationData->GetJoystickTouchpads(i, &touchpads[i]);
}
allianceStation = SimDriverStationData->allianceStationId;
matchTime = SimDriverStationData->matchTime;
@@ -266,9 +268,21 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
return 0;
}
int32_t HAL_GetJoystickTouchpads(int32_t joystickNum,
HAL_JoystickTouchpads* touchpads) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
*touchpads = currentRead->touchpads[joystickNum];
return 0;
}
void HAL_GetAllJoystickData(int32_t joystickNum, HAL_JoystickAxes* axes,
HAL_JoystickPOVs* povs,
HAL_JoystickButtons* buttons) {
HAL_JoystickButtons* buttons,
HAL_JoystickTouchpads* touchpads) {
if (gShutdown) {
return;
}
@@ -276,6 +290,7 @@ void HAL_GetAllJoystickData(int32_t joystickNum, HAL_JoystickAxes* axes,
*axes = currentRead->axes[joystickNum];
*povs = currentRead->povs[joystickNum];
*buttons = currentRead->buttons[joystickNum];
*touchpads = currentRead->touchpads[joystickNum];
}
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,