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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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62
wpilibc/wpilibC++Sim/src/DriverStation.cpp
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@@ -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);
}