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

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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
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26
hal/src/main/native/systemcore/FRCDriverStation.cpp
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@@ -63,6 +63,7 @@ struct JoystickDataCache {
HAL_AllianceStationID allianceStation;
float matchTime;
HAL_ControlWord controlWord;
HAL_GameData gameData;
};
static_assert(std::is_standard_layout_v<JoystickDataCache>);
// static_assert(std::is_trivial_v<JoystickDataCache>);
@@ -77,7 +78,6 @@ struct SystemServerDriverStation {
wpi::nt::ProtobufSubscriber<mrc::ControlData> controlDataSubscriber;
wpi::nt::ProtobufSubscriber<mrc::MatchInfo> matchInfoSubscriber;
wpi::nt::StringSubscriber gameSpecificMessageSubscriber;
wpi::nt::ProtobufSubscriber<mrc::JoystickDescriptors>
joystickDescriptorsTopic;
@@ -145,8 +145,6 @@ struct SystemServerDriverStation {
matchInfoSubscriber =
ntInst.GetProtobufTopic<mrc::MatchInfo>(ROBOT_MATCH_INFO_PATH)
.Subscribe({});
gameSpecificMessageSubscriber =
ntInst.GetStringTopic(ROBOT_GAME_SPECIFIC_MESSAGE_PATH).Subscribe({});
joystickDescriptorsTopic = ntInst
.GetProtobufTopic<mrc::JoystickDescriptors>(
@@ -239,6 +237,13 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
allianceInt += 1;
allianceStation = static_cast<HAL_AllianceStationID>(allianceInt);
auto gameData = data.GetGameData();
if (gameData.size() > 8) {
gameData = gameData.substr(0, 8);
}
std::memcpy(this->gameData.gameData, gameData.data(), gameData.size());
this->gameData.gameData[gameData.size()] = '\0';
if (data.ControlWord.SupportsOpModes) {
controlWord = HAL_MakeControlWord(
data.CurrentOpMode.ToValue(),
@@ -328,7 +333,6 @@ static wpi::util::mutex tcpCacheMutex;
void TcpCache::Update() {
auto newMatchInfo = systemServerDs->matchInfoSubscriber.Get();
auto gameMsg = systemServerDs->gameSpecificMessageSubscriber.Get();
matchInfo.matchNumber = newMatchInfo.MatchNumber;
matchInfo.matchType = static_cast<HAL_MatchType>(newMatchInfo.Type);
@@ -343,14 +347,6 @@ void TcpCache::Update() {
}
matchInfo.eventName[nameLen] = '\0';
auto gameDataLen =
(std::min)(sizeof(matchInfo.gameSpecificMessage), gameMsg.size());
if (gameDataLen > 0) {
std::memcpy(matchInfo.gameSpecificMessage, gameMsg.data(), gameDataLen);
}
matchInfo.gameSpecificMessageSize = gameDataLen;
const auto descriptorsMsg = systemServerDs->joystickDescriptorsTopic.Get();
size_t descriptorCount = descriptorsMsg.GetDescriptorCount();
@@ -617,6 +613,12 @@ int32_t HAL_GetJoystickGamepadType(int32_t joystickNum) {
}
}
int32_t HAL_GetGameData(HAL_GameData* gameData) {
std::scoped_lock lock{cacheMutex};
*gameData = currentRead->gameData;
return 0;
}
int32_t HAL_GetJoystickSupportedOutputs(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {