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

wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp

@@ -350,6 +350,71 @@ double DriverStation::GetStickAxis(int stick, int axis) {
   return axes.axes[axis];
 }
 
+DriverStation::TouchpadFinger DriverStation::GetStickTouchpadFinger(
+    int stick, int touchpad, int finger) {
+  if (stick < 0 || stick >= kJoystickPorts) {
+    WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
+    return TouchpadFinger{false, 0.0f, 0.0f};
+  }
+  if (touchpad < 0 || touchpad >= HAL_kMaxJoystickTouchpads) {
+    WPILIB_ReportError(warn::BadJoystickAxis, "touchpad {} out of range",
+                       touchpad);
+    return TouchpadFinger{false, 0.0f, 0.0f};
+  }
+  if (finger < 0 || finger >= HAL_kMaxJoystickTouchpadFingers) {
+    WPILIB_ReportError(warn::BadJoystickAxis, "finger {} out of range", finger);
+    return TouchpadFinger{false, 0.0f, 0.0f};
+  }
+
+  HAL_JoystickTouchpads touchpads;
+  HAL_GetJoystickTouchpads(stick, &touchpads);
+
+  auto touchpadCount = touchpads.count;
+  if (touchpad < touchpadCount) {
+    if (finger < touchpads.touchpads[touchpad].count) {
+      return TouchpadFinger{
+          touchpads.touchpads[touchpad].fingers[finger].down != 0,
+          touchpads.touchpads[touchpad].fingers[finger].x,
+          touchpads.touchpads[touchpad].fingers[finger].y};
+    }
+  }
+
+  ReportJoystickUnpluggedWarning(
+      "Joystick Touchpad Finger {} missing, check if all controllers are "
+      "plugged in",
+      touchpad);
+  return TouchpadFinger{false, 0.0f, 0.0f};
+}
+
+bool DriverStation::GetStickTouchpadFingerAvailable(int stick, int touchpad,
+                                                    int finger) {
+  if (stick < 0 || stick >= kJoystickPorts) {
+    WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
+    return false;
+  }
+  if (touchpad < 0 || touchpad >= HAL_kMaxJoystickTouchpads) {
+    WPILIB_ReportError(warn::BadJoystickAxis, "touchpad {} out of range",
+                       touchpad);
+    return false;
+  }
+  if (finger < 0 || finger >= HAL_kMaxJoystickTouchpadFingers) {
+    WPILIB_ReportError(warn::BadJoystickAxis, "finger {} out of range", finger);
+    return false;
+  }
+
+  HAL_JoystickTouchpads touchpads;
+  HAL_GetJoystickTouchpads(stick, &touchpads);
+
+  auto touchpadCount = touchpads.count;
+  if (touchpad < touchpadCount) {
+    if (finger < touchpads.touchpads[touchpad].count) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
 std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
                                                              int axis) {
   if (stick < 0 || stick >= kJoystickPorts) {

wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp

@@ -176,3 +176,13 @@ void GenericHID::SetRumble(RumbleType type, double value) {
   HAL_SetJoystickRumble(m_port, m_leftRumble, m_rightRumble,
                         m_leftTriggerRumble, m_rightTriggerRumble);
 }
+
+bool GenericHID::GetTouchpadFingerAvailable(int touchpad, int finger) const {
+  return DriverStation::GetStickTouchpadFingerAvailable(m_port, touchpad,
+                                                        finger);
+}
+
+DriverStation::TouchpadFinger GenericHID::GetTouchpadFinger(int touchpad,
+                                                            int finger) const {
+  return DriverStation::GetStickTouchpadFinger(m_port, touchpad, finger);
+}

wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp

@@ -72,6 +72,12 @@ class DriverStation final {
     kUpLeft = HAL_JoystickPOV_kLeftUp,
   };
 
+  struct TouchpadFinger final {
+    bool down = false;
+    float x = 0.0f;
+    float y = 0.0f;
+  };
+
   /**
    * Gets the angle of a POVDirection.
    *
@@ -159,6 +165,28 @@ class DriverStation final {
    */
   static double GetStickAxis(int stick, int axis);
 
+  /**
+   * Get the finger data of a touchpad on a joystick, if available.
+   *
+   * @param stick         The joystick to read.
+   * @param touchpad The touchpad index to read from the joystick.
+   * @param finger   The finger index to read from the touchpad.
+   * @return The finger data of the touchpad on the joystick.
+   */
+  static TouchpadFinger GetStickTouchpadFinger(int stick, int touchpad,
+                                               int finger);
+
+  /**
+   * Whether a finger on a touchpad is available.
+   *
+   *  @param stick         The joystick to read.
+   * @param touchpad The touchpad index to read from the joystick.
+   * @param finger   The finger index to read from the touchpad.
+   * @return True if the finger data is available.
+   */
+  static bool GetStickTouchpadFingerAvailable(int stick, int touchpad,
+                                              int finger);
+
   /**
    * Get the value of the axis on a joystick, if available.
    *

wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp

@@ -370,6 +370,23 @@ class GenericHID {
    */
   void SetRumble(RumbleType type, double value);
 
+  /**
+   * Check if a touchpad finger is available.
+   * @param touchpad The touchpad to check.
+   * @param finger The finger to check.
+   * @return true if the touchpad finger is available.
+   */
+  bool GetTouchpadFingerAvailable(int touchpad, int finger) const;
+
+  /**
+   * Get the touchpad finger data.
+   * @param touchpad The touchpad to read.
+   * @param finger The finger to read.
+   * @return The touchpad finger data.
+   */
+  DriverStation::TouchpadFinger GetTouchpadFinger(int touchpad,
+                                                  int finger) const;
+
  private:
   int m_port;
   uint16_t m_leftRumble = 0;