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refactored HAL library

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builds two libraries, Athena  and Desktop.
Simulation should use Desktop, Robots should use Athena

Also:
 - copied Driverstation and Joystick from Devices into Sim
 - Descreased dependency of pthreads in JNI.
 - removed Simulation ifdef from non simulation
 - added missing decprecated attribute for msvc
 - removed usage reporting from sim
 - removed unused pom.xml and constexpr

Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
This commit is contained in:
peter mitrano
2015-08-19 11:12:54 -04:00
parent 43960b9bca
commit 4514e4489a
27 changed files with 1240 additions and 1041 deletions
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317
wpilibc/wpilibC++Sim/src/Joystick.cpp
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@@ -1,14 +1,16 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved.
*/
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Joystick.h"
#include "DriverStation.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include <math.h>
#include <memory>
#include <string.h>
const uint32_t Joystick::kDefaultXAxis;
const uint32_t Joystick::kDefaultYAxis;
@@ -24,19 +26,21 @@ static bool joySticksInitialized = false;
* Construct an instance of a joystick.
* The joystick index is the usb port on the drivers station.
*
* @param port The port on the driver station that the joystick is plugged into.
* @param port The port on the driver station that the joystick is plugged into
* (0-5).
*/
Joystick::Joystick(uint32_t port)
: Joystick(port, kNumAxisTypes, kNumButtonTypes)
{
m_axes[kXAxis] = kDefaultXAxis;
m_axes[kYAxis] = kDefaultYAxis;
m_axes[kZAxis] = kDefaultZAxis;
m_axes[kTwistAxis] = kDefaultTwistAxis;
m_axes[kThrottleAxis] = kDefaultThrottleAxis;
: Joystick(port, kNumAxisTypes, kNumButtonTypes) {
m_axes[kXAxis] = kDefaultXAxis;
m_axes[kYAxis] = kDefaultYAxis;
m_axes[kZAxis] = kDefaultZAxis;
m_axes[kTwistAxis] = kDefaultTwistAxis;
m_axes[kThrottleAxis] = kDefaultThrottleAxis;
m_buttons[kTriggerButton] = kDefaultTriggerButton;
m_buttons[kTopButton] = kDefaultTopButton;
m_buttons[kTriggerButton] = kDefaultTriggerButton;
m_buttons[kTopButton] = kDefaultTopButton;
HALReport(HALUsageReporting::kResourceType_Joystick, port);
}
/**
@@ -49,111 +53,108 @@ Joystick::Joystick(uint32_t port)
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
*/
Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
: m_port (port)
{
if ( !joySticksInitialized )
{
for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
joysticks[i] = nullptr;
joySticksInitialized = true;
}
joysticks[m_port] = this;
m_ds = DriverStation::GetInstance();
m_axes = std::make_unique<uint32_t[]>(numAxisTypes);
m_buttons = std::make_unique<uint32_t[]>(numButtonTypes);
Joystick::Joystick(uint32_t port, uint32_t numAxisTypes,
uint32_t numButtonTypes)
: m_ds(DriverStation::GetInstance()),
m_port(port),
m_axes(numAxisTypes),
m_buttons(numButtonTypes) {
if (!joySticksInitialized) {
for (auto& joystick : joysticks) joystick = nullptr;
joySticksInitialized = true;
}
if (m_port >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
} else {
joysticks[m_port] = this;
}
}
Joystick * Joystick::GetStickForPort(uint32_t port)
{
Joystick *stick = joysticks[port];
if (stick == nullptr)
{
stick = new Joystick(port);
joysticks[port] = stick;
}
return stick;
Joystick *Joystick::GetStickForPort(uint32_t port) {
Joystick *stick = joysticks[port];
if (stick == nullptr) {
stick = new Joystick(port);
joysticks[port] = stick;
}
return stick;
}
/**
* Get the X value of the joystick.
* This depends on the mapping of the joystick connected to the current port.
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
*/
float Joystick::GetX(JoystickHand hand) const
{
return GetRawAxis(m_axes[kXAxis]);
float Joystick::GetX(JoystickHand hand) const {
return GetRawAxis(m_axes[kXAxis]);
}
/**
* Get the Y value of the joystick.
* This depends on the mapping of the joystick connected to the current port.
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
*/
float Joystick::GetY(JoystickHand hand) const
{
return GetRawAxis(m_axes[kYAxis]);
float Joystick::GetY(JoystickHand hand) const {
return GetRawAxis(m_axes[kYAxis]);
}
/**
* Get the Z value of the current joystick.
* This depends on the mapping of the joystick connected to the current port.
*/
float Joystick::GetZ() const
{
return GetRawAxis(m_axes[kZAxis]);
}
float Joystick::GetZ() const { return GetRawAxis(m_axes[kZAxis]); }
/**
* Get the twist value of the current joystick.
* This depends on the mapping of the joystick connected to the current port.
*/
float Joystick::GetTwist() const
{
return GetRawAxis(m_axes[kTwistAxis]);
}
float Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
/**
* Get the throttle value of the current joystick.
* This depends on the mapping of the joystick connected to the current port.
*/
float Joystick::GetThrottle() const
{
return GetRawAxis(m_axes[kThrottleAxis]);
float Joystick::GetThrottle() const {
return GetRawAxis(m_axes[kThrottleAxis]);
}
/**
* Get the value of the axis.
*
* @param axis The axis to read [1-6].
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
float Joystick::GetRawAxis(uint32_t axis) const
{
return m_ds->GetStickAxis(m_port, axis);
float Joystick::GetRawAxis(uint32_t axis) const {
return m_ds.GetStickAxis(m_port, axis);
}
/**
* For the current joystick, return the axis determined by the argument.
*
* This is for cases where the joystick axis is returned programatically, otherwise one of the
* This is for cases where the joystick axis is returned programatically,
* otherwise one of the
* previous functions would be preferable (for example GetX()).
*
* @param axis The axis to read.
* @return The value of the axis.
*/
float Joystick::GetAxis(AxisType axis) const
{
switch(axis)
{
case kXAxis: return this->GetX();
case kYAxis: return this->GetY();
case kZAxis: return this->GetZ();
case kTwistAxis: return this->GetTwist();
case kThrottleAxis: return this->GetThrottle();
default:
wpi_setWPIError(BadJoystickAxis);
return 0.0;
}
float Joystick::GetAxis(AxisType axis) const {
switch (axis) {
case kXAxis:
return this->GetX();
case kYAxis:
return this->GetY();
case kZAxis:
return this->GetZ();
case kTwistAxis:
return this->GetTwist();
case kThrottleAxis:
return this->GetThrottle();
default:
wpi_setWPIError(BadJoystickAxis);
return 0.0;
}
}
/**
@@ -161,12 +162,12 @@ float Joystick::GetAxis(AxisType axis) const
*
* Look up which button has been assigned to the trigger and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
* @return The state of the trigger.
*/
bool Joystick::GetTrigger(JoystickHand hand) const
{
return GetRawButton(m_buttons[kTriggerButton]);
bool Joystick::GetTrigger(JoystickHand hand) const {
return GetRawButton(m_buttons[kTriggerButton]);
}
/**
@@ -174,45 +175,45 @@ bool Joystick::GetTrigger(JoystickHand hand) const
*
* Look up which button has been assigned to the top and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
* @param hand This parameter is ignored for the Joystick class and is only here
* to complete the GenericHID interface.
* @return The state of the top button.
*/
bool Joystick::GetTop(JoystickHand hand) const
{
return GetRawButton(m_buttons[kTopButton]);
bool Joystick::GetTop(JoystickHand hand) const {
return GetRawButton(m_buttons[kTopButton]);
}
/**
* This is not supported for the Joystick.
* This method is only here to complete the GenericHID interface.
*/
bool Joystick::GetBumper(JoystickHand hand) const
{
// Joysticks don't have bumpers.
return false;
bool Joystick::GetBumper(JoystickHand hand) const {
// Joysticks don't have bumpers.
return false;
}
/**
* Get the button value for buttons 1 through 12.
* Get the button value (starting at button 1)
*
* The buttons are returned in a single 16 bit value with one bit representing the state
* The buttons are returned in a single 16 bit value with one bit representing
* the state
* of each button. The appropriate button is returned as a boolean value.
*
* @param button The button number to be read.
* @param button The button number to be read (starting at 1)
* @return The state of the button.
**/
bool Joystick::GetRawButton(uint32_t button) const
{
return m_ds->GetStickButton(m_port, button);
bool Joystick::GetRawButton(uint32_t button) const {
return m_ds.GetStickButton(m_port, button);
}
/**
* Get the state of a POV on the joystick.
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
* Get the state of a POV on the joystick.
*
* @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
int Joystick::GetPOV(uint32_t pov) const {
return 0; // TODO
return m_ds.GetStickPOV(m_port, pov);
}
/**
@@ -223,27 +224,75 @@ int Joystick::GetPOV(uint32_t pov) const {
* @param button The type of button to read.
* @return The state of the button.
*/
bool Joystick::GetButton(ButtonType button) const
{
switch (button)
{
case kTriggerButton: return GetTrigger();
case kTopButton: return GetTop();
default:
return false;
}
bool Joystick::GetButton(ButtonType button) const {
switch (button) {
case kTriggerButton:
return GetTrigger();
case kTopButton:
return GetTop();
default:
return false;
}
}
/**
* Get the number of axis for a joystick
*
* @return the number of axis for the current joystick
*/
int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
/**
* Get the value of isXbox for the joystick.
*
* @return A boolean that is true if the joystick is an xbox controller.
*/
bool Joystick::GetIsXbox() const { return m_ds.GetJoystickIsXbox(m_port); }
/**
* Get the HID type of the controller.
*
* @return the HID type of the controller.
*/
Joystick::HIDType Joystick::GetType() const {
return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
}
/**
* Get the name of the joystick.
*
* @return the name of the controller.
*/
std::string Joystick::GetName() const { return m_ds.GetJoystickName(m_port); }
// int Joystick::GetAxisType(uint8_t axis) const
//{
// return m_ds.GetJoystickAxisType(m_port, axis);
//}
/**
* Get the number of axis for a joystick
*
* @return the number of buttons on the current joystick
*/
int Joystick::GetButtonCount() const {
return m_ds.GetStickButtonCount(m_port);
}
/**
* Get the number of axis for a joystick
*
* @return then umber of POVs for the current joystick
*/
int Joystick::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
/**
* Get the channel currently associated with the specified axis.
*
* @param axis The axis to look up the channel for.
* @return The channel fr the axis.
*/
uint32_t Joystick::GetAxisChannel(AxisType axis)
{
return m_axes[axis];
}
uint32_t Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
/**
* Set the channel associated with a specified axis.
@@ -251,9 +300,8 @@ uint32_t Joystick::GetAxisChannel(AxisType axis)
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
{
m_axes[axis] = channel;
void Joystick::SetAxisChannel(AxisType axis, uint32_t channel) {
m_axes[axis] = channel;
}
/**
@@ -263,7 +311,7 @@ void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
* @return The magnitude of the direction vector
*/
float Joystick::GetMagnitude() const {
return sqrt(pow(GetX(),2) + pow(GetY(),2) );
return sqrt(pow(GetX(), 2) + pow(GetY(), 2));
}
/**
@@ -272,19 +320,58 @@ float Joystick::GetMagnitude() const {
*
* @return The direction of the vector in radians
*/
float Joystick::GetDirectionRadians() const {
return atan2(GetX(), -GetY());
}
float Joystick::GetDirectionRadians() const { return atan2(GetX(), -GetY()); }
/**
* Get the direction of the vector formed by the joystick and its origin
* in degrees
*
* uses acos(-1) to represent Pi due to absence of readily accessable Pi
* uses acos(-1) to represent Pi due to absence of readily accessible Pi
* constant in C++
*
* @return The direction of the vector in degrees
*/
float Joystick::GetDirectionDegrees() const {
return (180/acos(-1))*GetDirectionRadians();
return (180 / acos(-1)) * GetDirectionRadians();
}
/**
* Set the rumble output for the joystick. The DS currently supports 2 rumble
* values,
* left rumble and right rumble
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void Joystick::SetRumble(RumbleType type, float value) {
if (value < 0)
value = 0;
else if (value > 1)
value = 1;
if (type == kLeftRumble)
m_leftRumble = value * 65535;
else
m_rightRumble = value * 65535;
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set a single HID output value for the joystick.
* @param outputNumber The index of the output to set (1-32)
* @param value The value to set the output to
*/
void Joystick::SetOutput(uint8_t outputNumber, bool value) {
m_outputs =
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}
/**
* Set all HID output values for the joystick.
* @param value The 32 bit output value (1 bit for each output)
*/
void Joystick::SetOutputs(uint32_t value) {
m_outputs = value;
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
}