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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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36
hal/src/main/native/sim/MockData/DriverStationDataInternal.h
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@@ -7,6 +7,7 @@
#pragma once
#include <array>
#include <atomic>
#include <memory>
@@ -14,8 +15,12 @@
#include "MockData/NotifyListenerVector.h"
namespace hal {
struct JoystickOutputStore;
struct MatchInfoDataStore;
class DriverStationData {
public:
DriverStationData();
void ResetData();
int32_t RegisterEnabledCallback(HAL_NotifyCallback callback, void* param,
@@ -75,6 +80,26 @@ class DriverStationData {
double GetMatchTime();
void SetMatchTime(double matchTime);
void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
void GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* descriptor);
void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
int32_t* leftRumble, int32_t* rightRumble);
void GetMatchInfo(HAL_MatchInfo* info);
void FreeMatchInfo(const HAL_MatchInfo* info);
void SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
void SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
void SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons);
void SetJoystickDescriptor(int32_t joystickNum,
const HAL_JoystickDescriptor* descriptor);
void SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
void SetMatchInfo(const HAL_MatchInfo* info);
void NotifyNewData();
private:
@@ -96,6 +121,17 @@ class DriverStationData {
std::shared_ptr<NotifyListenerVector> m_allianceStationIdCallbacks = nullptr;
std::atomic<double> m_matchTime{0.0};
std::shared_ptr<NotifyListenerVector> m_matchTimeCallbacks = nullptr;
std::mutex m_joystickDataMutex;
std::mutex m_matchInfoMutex;
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
std::unique_ptr<JoystickOutputStore[]> m_joystickOutputs;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
std::unique_ptr<MatchInfoDataStore> m_matchInfo;
};
extern DriverStationData SimDriverStationData;
} // namespace hal