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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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164
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
View File

@@ -34,7 +34,8 @@ public final class DriverStation {
/** Number of Joystick ports. */
public static final int kJoystickPorts = 6;
private static final long[] m_metadataCache = new long[4];
private static final long[] m_metadataCache = new long[7];
private static final float[] m_touchpadFingersCache = new float[8];
private static int availableToCount(long available) {
// Top bit has to be set
@@ -52,6 +53,36 @@ public final class DriverStation {
return count;
}
private static final class HALJoystickTouchpadFinger {
public float m_x;
public float m_y;
public boolean m_down;
}
private static class HALJoystickTouchpad {
public final HALJoystickTouchpadFinger[] m_fingers =
new HALJoystickTouchpadFinger[DriverStationJNI.kMaxJoystickTouchpadFingers];
public int m_count;
HALJoystickTouchpad() {
for (int i = 0; i < m_fingers.length; i++) {
m_fingers[i] = new HALJoystickTouchpadFinger();
}
}
}
private static class HALJoystickTouchpads {
public final HALJoystickTouchpad[] m_touchpads =
new HALJoystickTouchpad[DriverStationJNI.kMaxJoystickTouchpads];
public int m_count;
HALJoystickTouchpads() {
for (int i = 0; i < m_touchpads.length; i++) {
m_touchpads[i] = new HALJoystickTouchpad();
}
}
}
private static final class HALJoystickButtons {
public long m_buttons;
public long m_available;
@@ -109,6 +140,32 @@ public final class DriverStation {
Elimination
}
/** Represents a finger on a touchpad. */
@SuppressWarnings("MemberName")
public static class TouchpadFinger {
/** Whether the finger is touching the touchpad. */
public final boolean down;
/** The x position of the finger. 0 is at top left. */
public final float x;
/** The y position of the finger. 0 is at top left. */
public final float y;
/**
* Creates a TouchpadFinger object.
*
* @param down Whether the finger is touching the touchpad.
* @param x The x position of the finger.
* @param y The y position of the finger.
*/
public TouchpadFinger(boolean down, float x, float y) {
this.x = x;
this.y = y;
this.down = down;
}
}
/** A controller POV direction. */
public enum POVDirection {
/** POV center. */
@@ -480,6 +537,8 @@ public final class DriverStation {
private static HALJoystickAxesRaw[] m_joystickAxesRaw = new HALJoystickAxesRaw[kJoystickPorts];
private static HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts];
private static HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
private static HALJoystickTouchpads[] m_joystickTouchpads =
new HALJoystickTouchpads[kJoystickPorts];
private static MatchInfoData m_matchInfo = new MatchInfoData();
private static ControlWord m_controlWord = new ControlWord();
private static EventVector m_refreshEvents = new EventVector();
@@ -491,6 +550,8 @@ public final class DriverStation {
private static HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
private static HALJoystickButtons[] m_joystickButtonsCache =
new HALJoystickButtons[kJoystickPorts];
private static HALJoystickTouchpads[] m_joystickTouchpadsCache =
new HALJoystickTouchpads[kJoystickPorts];
private static MatchInfoData m_matchInfoCache = new MatchInfoData();
private static ControlWord m_controlWordCache = new ControlWord();
@@ -521,11 +582,13 @@ public final class DriverStation {
m_joystickAxes[i] = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
m_joystickAxesRaw[i] = new HALJoystickAxesRaw(DriverStationJNI.kMaxJoystickAxes);
m_joystickPOVs[i] = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
m_joystickTouchpads[i] = new HALJoystickTouchpads();
m_joystickButtonsCache[i] = new HALJoystickButtons();
m_joystickAxesCache[i] = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
m_joystickAxesRawCache[i] = new HALJoystickAxesRaw(DriverStationJNI.kMaxJoystickAxes);
m_joystickPOVsCache[i] = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
m_joystickTouchpadsCache[i] = new HALJoystickTouchpads();
}
m_matchDataSender = new MatchDataSender();
@@ -791,6 +854,87 @@ public final class DriverStation {
return 0.0;
}
/**
* Get the state of a touchpad finger on the joystick.
*
* @param stick The joystick to read.
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return the state of the touchpad finger.
*/
public static TouchpadFinger getStickTouchpadFinger(int stick, int touchpad, int finger) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (touchpad < 0 || touchpad >= DriverStationJNI.kMaxJoystickTouchpads) {
throw new IllegalArgumentException("Joystick touchpad is out of range");
}
if (finger < 0 || finger >= DriverStationJNI.kMaxJoystickTouchpadFingers) {
throw new IllegalArgumentException("Joystick touchpad finger is out of range");
}
int touchpadCount;
m_cacheDataMutex.lock();
try {
touchpadCount = m_joystickTouchpads[stick].m_count;
if (touchpad < touchpadCount) {
HALJoystickTouchpad tp = m_joystickTouchpads[stick].m_touchpads[touchpad];
if (finger < tp.m_count) {
return new TouchpadFinger(
tp.m_fingers[finger].m_down, tp.m_fingers[finger].m_x, tp.m_fingers[finger].m_y);
}
}
} finally {
m_cacheDataMutex.unlock();
}
reportJoystickUnpluggedWarning(
"Joystick touchpad finger "
+ finger
+ " on touchpad "
+ touchpad
+ " on port "
+ stick
+ " not available, check if controller is plugged in");
return new TouchpadFinger(false, 0.0f, 0.0f);
}
/**
* Get whether a touchpad finger on the joystick is available.
*
* @param stick The joystick to read.
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return whether the touchpad finger is available.
*/
public static boolean getStickTouchpadFingerAvailable(int stick, int touchpad, int finger) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (touchpad < 0 || touchpad >= DriverStationJNI.kMaxJoystickTouchpads) {
throw new IllegalArgumentException("Joystick touchpad is out of range");
}
if (finger < 0 || finger >= DriverStationJNI.kMaxJoystickTouchpadFingers) {
throw new IllegalArgumentException("Joystick touchpad finger is out of range");
}
int touchpadCount;
m_cacheDataMutex.lock();
try {
touchpadCount = m_joystickTouchpads[stick].m_count;
if (touchpad < touchpadCount) {
HALJoystickTouchpad tp = m_joystickTouchpads[stick].m_touchpads[touchpad];
if (finger < tp.m_count) {
return true;
}
}
} finally {
m_cacheDataMutex.unlock();
}
return false;
}
/**
* Get the value of the axis on a joystick if available. This depends on the mapping of the
* joystick connected to the specified port.
@@ -1399,12 +1543,26 @@ public final class DriverStation {
m_joystickAxesCache[stick].m_axes,
m_joystickAxesRawCache[stick].m_axes,
m_joystickPOVsCache[stick].m_povs,
m_touchpadFingersCache,
m_metadataCache);
m_joystickAxesCache[stick].m_available = (int) m_metadataCache[0];
m_joystickAxesRawCache[stick].m_available = (int) m_metadataCache[0];
m_joystickPOVsCache[stick].m_available = (int) m_metadataCache[1];
m_joystickButtonsCache[stick].m_available = m_metadataCache[2];
m_joystickButtonsCache[stick].m_buttons = m_metadataCache[3];
m_joystickTouchpadsCache[stick].m_count = (int) m_metadataCache[4];
for (int i = 0; i < m_joystickTouchpadsCache[stick].m_count; i++) {
long metadata = m_metadataCache[5 + i];
m_joystickTouchpadsCache[stick].m_touchpads[i].m_fingers[0].m_down = (metadata & 0x1) != 0;
m_joystickTouchpadsCache[stick].m_touchpads[i].m_fingers[1].m_down = (metadata & 0x2) != 0;
m_joystickTouchpadsCache[stick].m_touchpads[i].m_count = (int) (metadata >> 2 & 0x3);
for (int j = 0; j < m_joystickTouchpadsCache[stick].m_touchpads[i].m_count; j++) {
m_joystickTouchpadsCache[stick].m_touchpads[i].m_fingers[j].m_x =
m_touchpadFingersCache[i * 4 + j * 2 + 0];
m_joystickTouchpadsCache[stick].m_touchpads[i].m_fingers[j].m_y =
m_touchpadFingersCache[i * 4 + j * 2 + 1];
}
}
}
DriverStationJNI.getMatchInfo(m_matchInfoCache);
@@ -1442,6 +1600,10 @@ public final class DriverStation {
m_joystickPOVs = m_joystickPOVsCache;
m_joystickPOVsCache = currentPOVs;
HALJoystickTouchpads[] currentTouchpads = m_joystickTouchpads;
m_joystickTouchpads = m_joystickTouchpadsCache;
m_joystickTouchpadsCache = currentTouchpads;
MatchInfoData currentInfo = m_matchInfo;
m_matchInfo = m_matchInfoCache;
m_matchInfoCache = currentInfo;

23
wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
View File

@@ -7,6 +7,7 @@ package org.wpilib.driverstation;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.DriverStation.TouchpadFinger;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.DriverStationJNI;
@@ -501,4 +502,26 @@ public class GenericHID {
this.m_leftTriggerRumble,
this.m_rightTriggerRumble);
}
/**
* 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.
*/
public boolean getTouchpadFingerAvailable(int touchpad, int finger) {
return DriverStation.getStickTouchpadFingerAvailable(m_port, touchpad, finger);
}
/**
* Get the touchpad finger data.
*
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return The touchpad finger data.
*/
public TouchpadFinger getTouchpadFinger(int touchpad, int finger) {
return DriverStation.getStickTouchpadFinger(m_port, touchpad, finger);
}
}