Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal,wpilib] Switch to new game data (#8584)

Browse Source 
Game data is now limited to 8 bytes, and comes through the UDP packets.
This commit is contained in:
Thad House
2026-02-06 21:38:15 -08:00
committed by GitHub
parent ac45c694f3
commit 85adbf990e
45 changed files with 820 additions and 695 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
hal/src/main/native/cpp/proto/ControlDataProto.cpp
View File

@@ -2,6 +2,7 @@
// 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 <string>
#include <utility>
#include "wpi/hal/proto/ControlData.h"
@@ -65,12 +66,14 @@ constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
InputStream& Stream) {
wpi::util::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
wpi::util::UnpackCallback<std::string> GameDataCb;
mrc_proto_ProtobufControlData Msg{
.MatchTime = 0,
.Joysticks = JoystickCb.Callback(),
.CurrentOpMode = 0,
.ControlWord = 0,
.GameData = GameDataCb.Callback(),
};
if (!Stream.Decode(Msg)) {
@@ -78,6 +81,7 @@ std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
}
auto Joysticks = JoystickCb.Items();
auto GameData = GameDataCb.Items();
mrc::ControlData ControlData;
@@ -90,6 +94,10 @@ std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
ControlData.Joysticks()[i] = std::move(Joysticks[i]);
}
if (GameData.size() >= 1) {
ControlData.MoveGameData(std::move(GameData[0]));
}
return ControlData;
}
@@ -97,12 +105,15 @@ bool wpi::util::Protobuf<mrc::ControlData>::Pack(
OutputStream& Stream, const mrc::ControlData& Value) {
std::span<const mrc::Joystick> Sticks = Value.Joysticks();
wpi::util::PackCallback Joysticks{Sticks};
std::string_view GameData = Value.GetGameData();
wpi::util::PackCallback GameDataCb{&GameData};
mrc_proto_ProtobufControlData Msg{
.MatchTime = Value.MatchTime,
.Joysticks = Joysticks.Callback(),
.CurrentOpMode = Value.CurrentOpMode.ToValue(),
.ControlWord = FromControlWord(Value.ControlWord),
.GameData = GameDataCb.Callback(),
};
return Stream.Encode(Msg);