halsim_ds_socket: Update tag parsing, and add rumble support (#1214)

Outputs are now sent. Ensure only the proper number of outputs are actually sent though.

Also adds match time, and proper enable tags.

simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp

@@ -0,0 +1,146 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "DSCommPacket.h"
+#include "gtest/gtest.h"
+
+class DSCommPacketTest : public ::testing::Test {
+ public:
+  DSCommPacketTest() {}
+
+  void SendJoysticks() { commPacket.SendJoysticks(); }
+
+  halsim::DSCommJoystickPacket& ReadJoystickTag(wpi::ArrayRef<uint8_t> data,
+                                                int index) {
+    commPacket.ReadJoystickTag(data, index);
+    return commPacket.m_joystick_packets[index];
+  }
+
+  halsim::DSCommJoystickPacket& ReadDescriptorTag(wpi::ArrayRef<uint8_t> data) {
+    commPacket.ReadJoystickDescriptionTag(data);
+    return commPacket.m_joystick_packets[data[3]];
+  }
+
+  HAL_MatchInfo& ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
+    commPacket.ReadNewMatchInfoTag(data);
+    return commPacket.matchInfo;
+  }
+
+  HAL_MatchInfo& ReadGameSpecificTag(wpi::ArrayRef<uint8_t> data) {
+    commPacket.ReadGameSpecificMessageTag(data);
+    return commPacket.matchInfo;
+  }
+
+ protected:
+  halsim::DSCommPacket commPacket;
+};
+
+TEST_F(DSCommPacketTest, EmptyJoystickTag) {
+  for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+    uint8_t arr[2];
+    auto& data = ReadJoystickTag(arr, 0);
+    ASSERT_EQ(data.axes.count, 0);
+    ASSERT_EQ(data.povs.count, 0);
+    ASSERT_EQ(data.buttons.count, 0);
+  }
+}
+
+TEST_F(DSCommPacketTest, BlankJoystickTag) {
+  for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+    uint8_t arr[5];
+    arr[0] = 4;
+    arr[1] = 2;
+    arr[2] = 0;
+    arr[3] = 0;
+    arr[4] = 0;
+    auto& data = ReadJoystickTag(arr, 0);
+    ASSERT_EQ(data.axes.count, 0);
+    ASSERT_EQ(data.povs.count, 0);
+    ASSERT_EQ(data.buttons.count, 0);
+  }
+}
+
+TEST_F(DSCommPacketTest, MainJoystickTag) {
+  for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+    // 5 for base, 4 joystick, 12 buttons (2 bytes) 3 povs
+    uint8_t arr[5 + 4 + 2 + 6] = {// Size, Tag
+                                  16, 12,
+                                  // Axes
+                                  4, 0x9C, 0xCE, 0, 75,
+                                  // Buttons
+                                  12, 0xFF, 0x0F,
+                                  // POVs
+                                  3, 0, 50, 0, 100, 0x0F, 0x00};
+
+    auto& data = ReadJoystickTag(arr, 0);
+    ASSERT_EQ(data.axes.count, 4);
+    ASSERT_EQ(data.povs.count, 3);
+    ASSERT_EQ(data.buttons.count, 12);
+  }
+}
+
+TEST_F(DSCommPacketTest, DescriptorTag) {
+  for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+    uint8_t arr[] = {// Size (2), tag
+                     0, 0, 7,
+                     // Joystick index, Is Xbox, Type
+                     static_cast<uint8_t>(i), 1, 0,
+                     // NameLen, Name (Not null terminated)
+                     11, 'H', 'e', 'l', 'l', 'o', ' ', 'W', 'o', 'r', 'l', 'd',
+                     // Axes count, Axes types
+                     4, 1, 2, 3, 4,
+                     // Button count, pov count,
+                     12, 3};
+    arr[1] = sizeof(arr) - 2;
+    auto& data = ReadDescriptorTag(arr);
+    ASSERT_EQ(data.descriptor.isXbox, 1);
+    ASSERT_EQ(data.descriptor.type, 0);
+    ASSERT_STREQ(data.descriptor.name, "Hello World");
+    ASSERT_EQ(data.descriptor.axisCount, 4);
+    for (int i = 0; i < 4; i++) {
+      ASSERT_EQ(data.descriptor.axisTypes[i], i + 1);
+    }
+    ASSERT_EQ(data.descriptor.buttonCount, 12);
+    ASSERT_EQ(data.descriptor.povCount, 3);
+  }
+}
+
+TEST_F(DSCommPacketTest, MatchInfoTag) {
+  uint8_t arr[]{// Size (2), tag
+                0, 0, 8,
+                // Event Name Len, Event Name
+                4, 'W', 'C', 'B', 'C',
+                // Match type, Match num (2), replay num
+                2, 0, 18, 1};
+  arr[1] = sizeof(arr) - 2;
+  auto& matchInfo = ReadNewMatchInfoTag(arr);
+  ASSERT_STREQ(matchInfo.eventName, "WCBC");
+  ASSERT_EQ(matchInfo.matchType, HAL_MatchType::HAL_kMatchType_qualification);
+  ASSERT_EQ(matchInfo.matchNumber, 18);
+  ASSERT_EQ(matchInfo.replayNumber, 1);
+}
+
+TEST_F(DSCommPacketTest, GameDataTag) {
+  uint8_t arr[]{
+      // Size (2), tag
+      0,
+      0,
+      17,
+      // Match data (length is taglength - 1)
+      'W',
+      'C',
+      'B',
+      'C',
+  };
+  arr[1] = sizeof(arr) - 2;
+  auto& matchInfo = ReadGameSpecificTag(arr);
+  ASSERT_EQ(matchInfo.gameSpecificMessageSize, 4);
+  ASSERT_EQ(matchInfo.gameSpecificMessage[0], 'W');
+  ASSERT_EQ(matchInfo.gameSpecificMessage[1], 'C');
+  ASSERT_EQ(matchInfo.gameSpecificMessage[2], 'B');
+  ASSERT_EQ(matchInfo.gameSpecificMessage[3], 'C');
+}

simulation/halsim_ds_socket/src/test/native/cpp/main.cpp

@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}