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[wpilib] GenericHID.setRumble: Fix Java integer overflow (#6529)

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This commit is contained in:
Ryan Blue
2024-05-04 11:36:40 -04:00
committed by GitHub
parent c76b358290
commit 7596aeda10
5 changed files with 112 additions and 8 deletions
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2
hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
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@@ -250,7 +250,7 @@ public class DriverStationJNI extends JNIWrapper {
* @see "HAL_SetJoystickOutputs"
*/
public static native int setJoystickOutputs(
byte joystickNum, int outputs, short leftRumble, short rightRumble);
byte joystickNum, int outputs, int leftRumble, int rightRumble);
/**
* Gets whether a specific joystick is considered to be an XBox controller.

5
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -294,12 +294,11 @@ Java_edu_wpi_first_hal_DriverStationJNI_getJoystickButtons
/*
* Class: edu_wpi_first_hal_DriverStationJNI
* Method: setJoystickOutputs
* Signature: (BISS)I
* Signature: (BIII)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_DriverStationJNI_setJoystickOutputs
(JNIEnv*, jclass, jbyte port, jint outputs, jshort leftRumble,
jshort rightRumble)
(JNIEnv*, jclass, jbyte port, jint outputs, jint leftRumble, jint rightRumble)
{
return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}

50
wpilibc/src/test/native/cpp/GenericHIDTest.cpp Normal file
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@@ -0,0 +1,50 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/simulation/GenericHIDSim.h>
#include <gtest/gtest.h>
using namespace frc;
using RumbleType = GenericHID::RumbleType;
static constexpr double kEpsilon = 0.0001;
TEST(GenericHIDTest, RumbleRange) {
GenericHID hid{0};
sim::GenericHIDSim sim{0};
for (int i = 0; i <= 100; i++) {
double rumbleValue = i / 100.0;
hid.SetRumble(RumbleType::kBothRumble, rumbleValue);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(rumbleValue, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
}
}
TEST(GenericHIDTest, RumbleTypes) {
GenericHID hid{0};
sim::GenericHIDSim sim{0};
// Make sure both are off
hid.SetRumble(RumbleType::kBothRumble, 0);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kBothRumble), kEpsilon);
// test both
hid.SetRumble(RumbleType::kBothRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kBothRumble, 0);
// test left only
hid.SetRumble(RumbleType::kLeftRumble, 1);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kLeftRumble, 0);
// test right only
hid.SetRumble(RumbleType::kRightRumble, 1);
EXPECT_NEAR(0, sim.GetRumble(RumbleType::kLeftRumble), kEpsilon);
EXPECT_NEAR(1, sim.GetRumble(RumbleType::kRightRumble), kEpsilon);
hid.SetRumble(RumbleType::kRightRumble, 0);
}

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
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@@ -95,8 +95,8 @@ public class GenericHID {
private final int m_port;
private int m_outputs;
private short m_leftRumble;
private short m_rightRumble;
private int m_leftRumble;
private int m_rightRumble;
/**
* Construct an instance of a device.
@@ -455,8 +455,7 @@ public class GenericHID {
*/
public void setRumble(RumbleType type, double value) {
value = MathUtil.clamp(value, 0, 1);
short rumbleValue = (short) (value * 65535);
int rumbleValue = (int) (value * 65535);
switch (type) {
case kLeftRumble:
this.m_leftRumble = rumbleValue;

56
wpilibj/src/test/java/edu/wpi/first/wpilibj/GenericHIDTest.java Normal file
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@@ -0,0 +1,56 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.simulation.GenericHIDSim;
import org.junit.jupiter.api.Test;
class GenericHIDTest {
private static final double kEpsilon = 0.0001;
@Test
void testRumbleRange() {
GenericHID hid = new GenericHID(0);
GenericHIDSim sim = new GenericHIDSim(0);
for (int i = 0; i <= 100; i++) {
double rumbleValue = i / 100.0;
hid.setRumble(RumbleType.kBothRumble, rumbleValue);
assertEquals(rumbleValue, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(rumbleValue, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
}
}
@Test
void testRumbleTypes() {
GenericHID hid = new GenericHID(0);
GenericHIDSim sim = new GenericHIDSim(0);
// Make sure both are off
hid.setRumble(RumbleType.kBothRumble, 0);
assertEquals(0, sim.getRumble(RumbleType.kBothRumble), kEpsilon);
// test both
hid.setRumble(RumbleType.kBothRumble, 1);
assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kBothRumble, 0);
// test left only
hid.setRumble(RumbleType.kLeftRumble, 1);
assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(0, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kLeftRumble, 0);
// test right only
hid.setRumble(RumbleType.kRightRumble, 1);
assertEquals(0, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
hid.setRumble(RumbleType.kRightRumble, 0);
}
}