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Simulation GUI: Map gamepad the same way as DS

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This commit is contained in:
Peter Johnson
2019-10-11 23:27:04 -07:00
parent c59f9cea5f
commit 55af553acc
1 changed files with 28 additions and 3 deletions
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31
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -211,7 +211,12 @@ void RobotJoystick::Update() {
const unsigned char* sysButtons;
if (sys->isGamepad && useGamepad) {
sysAxes = sys->gamepadState.axes;
// don't remap on windows
#ifdef _WIN32
sysButtons = sys->buttons;
#else
sysButtons = sys->gamepadState.buttons;
#endif
} else {
sysAxes = sys->axes;
sysButtons = sys->buttons;
@@ -226,13 +231,33 @@ void RobotJoystick::Update() {
desc.buttonCount = (std::min)(sys->buttonCount, 32);
desc.povCount = (std::min)(sys->hatCount, HAL_kMaxJoystickPOVs);
axes.count = desc.axisCount;
std::memcpy(axes.axes, sysAxes, axes.count * sizeof(&axes.axes[0]));
buttons.count = desc.buttonCount;
for (int j = 0; j < buttons.count; ++j)
buttons.buttons |= (sysButtons[j] ? 1u : 0u) << j;
axes.count = desc.axisCount;
if (sys->isGamepad && useGamepad) {
// the FRC DriverStation maps gamepad (XInput) trigger values to 0-1 range
// on axis 2 and 3.
axes.axes[0] = sysAxes[0];
axes.axes[1] = sysAxes[1];
axes.axes[2] = 0.5 + sysAxes[4] / 2.0;
axes.axes[3] = 0.5 + sysAxes[5] / 2.0;
axes.axes[4] = sysAxes[2];
axes.axes[5] = sysAxes[3];
// the start button for gamepads is not mapped on the FRC DriverStation
// platforms, so remove it if present
if (buttons.count == 11) {
--desc.buttonCount;
--buttons.count;
buttons.buttons =
(buttons.buttons & 0xff) | ((buttons.buttons >> 1) & 0x300);
}
} else {
std::memcpy(axes.axes, sysAxes, axes.count * sizeof(&axes.axes[0]));
}
povs.count = desc.povCount;
for (int j = 0; j < povs.count; ++j) povs.povs[j] = HatToAngle(sys->hats[j]);
}