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Adds ability to simulate joysticks and event info (#727)

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Thanks @pjreiniger for the initiali implementation and work on this.
This commit is contained in:
Thad House
2017-11-12 19:33:43 -08:00
committed by Peter Johnson
parent 7007725d9f
commit 35d68d2a34
5 changed files with 376 additions and 15 deletions
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163
hal/src/main/native/sim/MockData/DriverStationData.cpp
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@@ -5,13 +5,35 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <cstdlib>
#include <cstring>
#include <string>
#include "DriverStationDataInternal.h"
#include "HAL/cpp/make_unique.h"
#include "NotifyCallbackHelpers.h"
namespace hal {
struct JoystickOutputStore {
int64_t outputs = 0;
int32_t leftRumble = 0;
int32_t rightRumble = 0;
};
struct MatchInfoDataStore {
std::string eventName;
std::string gameSpecificMessage;
int32_t replayNumber = 0;
int32_t matchNumber = 0;
HAL_MatchType matchType = HAL_MatchType::HAL_kMatchType_none;
};
} // namespace hal
using namespace hal;
DriverStationData hal::SimDriverStationData;
DriverStationData::DriverStationData() { ResetData(); }
void DriverStationData::ResetData() {
m_enabled = false;
m_enabledCallbacks = nullptr;
@@ -25,6 +47,29 @@ void DriverStationData::ResetData() {
m_fmsAttachedCallbacks = nullptr;
m_dsAttached = false;
m_dsAttachedCallbacks = nullptr;
{
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(6);
m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(6);
m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(6);
m_joystickOutputs = std::make_unique<JoystickOutputStore[]>(6);
m_joystickDescriptor = std::make_unique<HAL_JoystickDescriptor[]>(6);
for (int i = 0; i < 6; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
m_joystickDescriptor[i].isXbox = 0;
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
}
{
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
m_matchInfo = std::make_unique<MatchInfoDataStore>();
}
}
int32_t DriverStationData::RegisterEnabledCallback(HAL_NotifyCallback callback,
@@ -316,6 +361,97 @@ void DriverStationData::SetMatchTime(double matchTime) {
}
}
void DriverStationData::GetJoystickAxes(int32_t joystickNum,
HAL_JoystickAxes* axes) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
*axes = m_joystickAxes[joystickNum];
}
void DriverStationData::GetJoystickPOVs(int32_t joystickNum,
HAL_JoystickPOVs* povs) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
*povs = m_joystickPOVs[joystickNum];
}
void DriverStationData::GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
*buttons = m_joystickButtons[joystickNum];
}
void DriverStationData::GetJoystickDescriptor(
int32_t joystickNum, HAL_JoystickDescriptor* descriptor) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
*descriptor = m_joystickDescriptor[joystickNum];
// Always ensure name is null terminated
descriptor->name[255] = '\0';
}
void DriverStationData::GetJoystickOutputs(int32_t joystickNum,
int64_t* outputs,
int32_t* leftRumble,
int32_t* rightRumble) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
*leftRumble = m_joystickOutputs[joystickNum].leftRumble;
*outputs = m_joystickOutputs[joystickNum].outputs;
*rightRumble = m_joystickOutputs[joystickNum].rightRumble;
}
void DriverStationData::GetMatchInfo(HAL_MatchInfo* info) {
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
auto eventLen = m_matchInfo->eventName.size();
info->eventName = static_cast<char*>(std::malloc(eventLen + 1));
std::memcpy(info->eventName, m_matchInfo->eventName.c_str(), eventLen);
auto gameLen = m_matchInfo->gameSpecificMessage.size();
info->gameSpecificMessage = static_cast<char*>(std::malloc(gameLen + 1));
std::memcpy(info->gameSpecificMessage,
m_matchInfo->gameSpecificMessage.c_str(), gameLen);
info->gameSpecificMessage[gameLen] = '\0';
info->eventName[eventLen] = '\0';
info->matchNumber = m_matchInfo->matchNumber;
info->replayNumber = m_matchInfo->replayNumber;
info->matchType = m_matchInfo->matchType;
}
void DriverStationData::FreeMatchInfo(const HAL_MatchInfo* info) {
std::free(info->eventName);
std::free(info->gameSpecificMessage);
}
void DriverStationData::SetJoystickAxes(int32_t joystickNum,
const HAL_JoystickAxes* axes) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickAxes[joystickNum] = *axes;
}
void DriverStationData::SetJoystickPOVs(int32_t joystickNum,
const HAL_JoystickPOVs* povs) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickPOVs[joystickNum] = *povs;
}
void DriverStationData::SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickButtons[joystickNum] = *buttons;
}
void DriverStationData::SetJoystickDescriptor(
int32_t joystickNum, const HAL_JoystickDescriptor* descriptor) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickDescriptor[joystickNum] = *descriptor;
}
void DriverStationData::SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble,
int32_t rightRumble) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
m_joystickOutputs[joystickNum].leftRumble = leftRumble;
m_joystickOutputs[joystickNum].outputs = outputs;
m_joystickOutputs[joystickNum].rightRumble = rightRumble;
}
void DriverStationData::SetMatchInfo(const HAL_MatchInfo* info) {
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
m_matchInfo->eventName = info->eventName;
m_matchInfo->gameSpecificMessage = info->gameSpecificMessage;
m_matchInfo->matchNumber = info->matchNumber;
m_matchInfo->matchType = info->matchType;
m_matchInfo->replayNumber = info->replayNumber;
}
void DriverStationData::NotifyNewData() { HAL_ReleaseDSMutex(); }
extern "C" {
@@ -445,6 +581,33 @@ void HALSIM_SetDriverStationMatchTime(double matchTime) {
SimDriverStationData.SetMatchTime(matchTime);
}
void HALSIM_SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes) {
SimDriverStationData.SetJoystickAxes(joystickNum, axes);
}
void HALSIM_SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs) {
SimDriverStationData.SetJoystickPOVs(joystickNum, povs);
}
void HALSIM_SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons) {
SimDriverStationData.SetJoystickButtons(joystickNum, buttons);
}
void HALSIM_SetJoystickDescriptor(int32_t joystickNum,
const HAL_JoystickDescriptor* descriptor) {
SimDriverStationData.SetJoystickDescriptor(joystickNum, descriptor);
}
void HALSIM_GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
int32_t* leftRumble, int32_t* rightRumble) {
SimDriverStationData.GetJoystickOutputs(joystickNum, outputs, leftRumble,
rightRumble);
}
void HALSIM_SetMatchInfo(const HAL_MatchInfo* info) {
SimDriverStationData.SetMatchInfo(info);
}
void HALSIM_NotifyDriverStationNewData(void) {
SimDriverStationData.NotifyNewData();
}