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Fixes for 0 based joysticks and joystick axes in simulation.

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Change-Id: I67608450d0818b38f6d5b5c709190433f2dc5cf5
This commit is contained in:
Alex Henning
2014-11-06 18:54:30 -05:00
parent 18de3aebdd
commit 3b53f84c8f
7 changed files with 54 additions and 35 deletions
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2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/DS.java
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@@ -105,7 +105,7 @@ public class DS {
public void scanForJoysticks() {
joysticks.removeAll();
List<ISimJoystick> sticks = joystickProvider.scanForJoysticks();
while (sticks.size() < 4) {
while (sticks.size() < 6) {
sticks.add(new FakeJoystick());
}
joysticks.setListData(sticks);

2
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/Main.java
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@@ -42,7 +42,7 @@ public class Main {
final double start = simTime;
for (int i = 0; i < provider.getJoysticks().size(); i++) {
ISimJoystick joystick = provider.getJoysticks().get(i);
joystick.advertise(node, i+1);
joystick.advertise(node, i);
joystick.publish();
}
ds.publish();

1
simulation/debs/Makefile
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@@ -66,6 +66,7 @@ clean:
-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
-rm -r frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
-rm frcsim/frcsim_$(frcsim-package-version)_all.deb
install:

6
wpilibc/wpilibC++Sim/include/DriverStation.h
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@@ -109,10 +109,12 @@ private:
void stateCallback(const msgs::ConstDriverStationPtr &msg);
void joystickCallback(const msgs::ConstJoystickPtr &msg, int i);
void joystickCallback0(const msgs::ConstJoystickPtr &msg);
void joystickCallback1(const msgs::ConstJoystickPtr &msg);
void joystickCallback2(const msgs::ConstJoystickPtr &msg);
void joystickCallback3(const msgs::ConstJoystickPtr &msg);
void joystickCallback4(const msgs::ConstJoystickPtr &msg);
void joystickCallback5(const msgs::ConstJoystickPtr &msg);
uint8_t m_digitalOut;
MULTIWAIT_ID m_waitForDataSem;
@@ -125,7 +127,7 @@ private:
bool m_userInTest;
transport::SubscriberPtr stateSub;
transport::SubscriberPtr joysticksSub[4];
transport::SubscriberPtr joysticksSub[6];
msgs::DriverStationPtr state;
msgs::JoystickPtr joysticks[4];
msgs::JoystickPtr joysticks[6];
};

62
wpilibc/wpilibC++Sim/src/DriverStation.cpp
View File

@@ -53,17 +53,23 @@ DriverStation::DriverStation()
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/0",
&DriverStation::joystickCallback0, this);
joysticks[1] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/3",
&DriverStation::joystickCallback3, this);
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/4",
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback3, this);
joysticks[4] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[4] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
joysticks[5] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[5] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback5, this);
AddToSingletonList();
}
@@ -107,22 +113,22 @@ float DriverStation::GetBatteryVoltage()
*/
float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
{
if (axis < 1 || axis > kJoystickAxes)
if (axis < 0 || axis > (kJoystickAxes - 1))
{
wpi_setWPIError(BadJoystickAxis);
return 0.0;
}
if (stick < 1 || stick > 4)
if (stick < 0 || stick > 5)
{
wpi_setWPIError(BadJoystickIndex);
return 0.0;
}
CRITICAL_REGION(m_joystickSemaphore)
if (joysticks[stick-1] == NULL || axis >= joysticks[stick-1]->axes().size())
if (joysticks[stick] == NULL || axis >= joysticks[stick]->axes().size())
{
return 0.0;
}
return joysticks[stick-1]->axes(axis-1);
return joysticks[stick]->axes(axis);
END_REGION
}
@@ -136,17 +142,17 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
*/
bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
{
if (stick < 1 || stick > 4)
if (stick < 0 || stick >= 6)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 1 and 4");
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
return false;
}
CRITICAL_REGION(m_joystickSemaphore)
if (joysticks[stick-1] == NULL || button >= joysticks[stick-1]->buttons().size())
if (joysticks[stick] == NULL || button >= joysticks[stick]->buttons().size())
{
return false;
}
return joysticks[stick-1]->buttons(button-1);
return joysticks[stick]->buttons(button-1);
END_REGION
}
@@ -159,17 +165,17 @@ bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
*/
short DriverStation::GetStickButtons(uint32_t stick)
{
if (stick < 1 || stick > 4)
if (stick < 0 || stick >= 6)
{
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 1 and 4");
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
return false;
}
short btns = 0, btnid;
CRITICAL_REGION(m_joystickSemaphore)
msgs::JoystickPtr joy = joysticks[stick-1];
msgs::JoystickPtr joy = joysticks[stick];
for (btnid = 0; btnid < joy->buttons().size() && btnid < 12; btnid++)
{
if (joysticks[stick-1]->buttons(btnid))
if (joysticks[stick]->buttons(btnid))
{
btns |= (1 << btnid);
}
@@ -359,22 +365,32 @@ void DriverStation::joystickCallback(const msgs::ConstJoystickPtr &msg,
END_REGION;
}
void DriverStation::joystickCallback1(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback0(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 0);
}
void DriverStation::joystickCallback2(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback1(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 1);
}
void DriverStation::joystickCallback3(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback2(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 2);
}
void DriverStation::joystickCallback4(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback3(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 3);
}
void DriverStation::joystickCallback4(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 4);
}
void DriverStation::joystickCallback5(const msgs::ConstJoystickPtr &msg)
{
joystickCallback(msg, 5);
}

6
wpilibc/wpilibC++Sim/src/Joystick.cpp
View File

@@ -70,7 +70,7 @@ void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
joysticks[i] = NULL;
joySticksInitialized = true;
}
joysticks[m_port - 1] = this;
joysticks[m_port] = this;
m_ds = DriverStation::GetInstance();
m_axes = new uint32_t[numAxisTypes];
@@ -79,11 +79,11 @@ void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
Joystick * Joystick::GetStickForPort(uint32_t port)
{
Joystick *stick = joysticks[port - 1];
Joystick *stick = joysticks[port];
if (stick == NULL)
{
stick = new Joystick(port);
joysticks[port - 1] = stick;
joysticks[port] = stick;
}
return stick;
}

10
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -28,7 +28,7 @@ public class DriverStation implements RobotState.Interface {
/**
* Number of Joystick Ports
*/
public static final int kJoystickPorts = 4;
public static final int kJoystickPorts = 6;
/**
* Number of Joystick Axes
*/
@@ -72,7 +72,7 @@ public class DriverStation implements RobotState.Interface {
private boolean m_userInTest = false;
private boolean m_newControlData;
private GzDriverStation.DriverStation state;
private Joystick joysticks[] = new Joystick[4];
private Joystick joysticks[] = new Joystick[6];
/**
* Gets an instance of the DriverStation
@@ -104,7 +104,7 @@ public class DriverStation implements RobotState.Interface {
}
);
for (int i = 1; i <= 4; i++) {
for (int i = 0; i < 6; i++) {
final int j = i;
MainNode.subscribe("ds/joysticks/"+i, Joystick.getDefaultInstance(),
new SubscriberCallback<Joystick>() {
@@ -161,10 +161,10 @@ public class DriverStation implements RobotState.Interface {
if (stick < 0 || stick >= joysticks.length || joysticks[stick] == null) {
return 0.0;
}
if (axis < 1 || axis > kJoystickAxes || axis > joysticks[stick].getAxesCount()) {
if (axis < 0 || axis >= kJoystickAxes || axis >= joysticks[stick].getAxesCount()) {
return 0.0;
}
return joysticks[stick].getAxes(axis - 1);
return joysticks[stick].getAxes(axis);
}
/**