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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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28
hal/src/main/native/systemcore/FRCDriverStation.cpp
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@@ -45,6 +45,8 @@ static_assert(sizeof(int32_t) >= sizeof(int),
static_assert(MRC_MAX_NUM_AXES == HAL_kMaxJoystickAxes);
static_assert(MRC_MAX_NUM_POVS == HAL_kMaxJoystickPOVs);
static_assert(MRC_MAX_NUM_JOYSTICKS == HAL_kMaxJoysticks);
static_assert(MRC_MAX_NUM_TOUCHPADS == HAL_kMaxJoystickTouchpads);
static_assert(MRC_MAX_NUM_TOUCHPAD_FINGERS == HAL_kMaxJoystickTouchpadFingers);
namespace {
struct JoystickDataCache {
@@ -54,6 +56,7 @@ struct JoystickDataCache {
HAL_JoystickAxes axes[HAL_kMaxJoysticks];
HAL_JoystickPOVs povs[HAL_kMaxJoysticks];
HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
HAL_JoystickTouchpads touchpads[HAL_kMaxJoysticks];
HAL_AllianceStationID allianceStation;
float matchTime;
HAL_ControlWord controlWord;
@@ -275,6 +278,19 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
buttons[count].available = newStick.Buttons.GetAvailable();
buttons[count].buttons = newStick.Buttons.Buttons;
touchpads[count].count = newStick.Touchpads.GetTouchpadCount();
const auto& newTouchpads = newStick.Touchpads.Touchpads();
for (size_t i = 0; i < newTouchpads.size(); i++) {
const auto& touchpadFingers = newTouchpads[i].Fingers();
touchpads[count].touchpads[i].count = touchpadFingers.size();
for (size_t j = 0; j < touchpadFingers.size(); j++) {
auto& finger = touchpadFingers[j];
touchpads[count].touchpads[i].fingers[j].down = finger.Down ? 1 : 0;
touchpads[count].touchpads[i].fingers[j].x = finger.X;
touchpads[count].touchpads[i].fingers[j].y = finger.Y;
}
}
}
}
@@ -484,13 +500,23 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
return 0;
}
int32_t HAL_GetJoystickTouchpads(int32_t joystickNum,
HAL_JoystickTouchpads* touchpads) {
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{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) {
std::scoped_lock lock{cacheMutex};
*axes = currentRead->axes[joystickNum];
*povs = currentRead->povs[joystickNum];
*buttons = currentRead->buttons[joystickNum];
*touchpads = currentRead->touchpads[joystickNum];
}
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,

8
hal/src/main/native/systemcore/mockdata/DriverStationData.cpp
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@@ -41,6 +41,7 @@ DEFINE_CAPI(double, MatchTime, 0)
DEFINE_CAPI(Axes, axes)
DEFINE_CAPI(POVs, povs)
DEFINE_CAPI(Buttons, buttons)
DEFINE_CAPI(Touchpads, touchpads)
DEFINE_CAPI(Descriptor, descriptor)
int32_t HALSIM_RegisterJoystickLedsCallback(int32_t joystickNum,
@@ -115,6 +116,13 @@ void HALSIM_GetJoystickAvailables(int32_t stick, uint16_t* axesAvailable,
*povsAvailable = 0;
}
void HALSIM_SetJoystickTouchpadCounts(int32_t stick, uint8_t touchpadCount,
const uint8_t* fingerCount) {}
void HALSIM_SetJoystickTouchpadFinger(int32_t stick, int32_t touchpad,
int32_t finger, HAL_Bool down, double x,
double y) {}
void HALSIM_SetJoystickIsGamepad(int32_t stick, HAL_Bool isGamepad) {}
void HALSIM_SetJoystickGamepadType(int32_t stick, int32_t type) {}