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Add new joystick features

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Axis counts other than six and POVs are both present in C++ and Java now

Add dynamic joystick axis counts, up to 12

Change-Id: Ieade5e61a89df822df8702cb32326e4635558778

Add support for POVs in C++

Change-Id: I12dc0fcaca605a256ddcf990eebde45767229171

Make POVs work in Java

Change-Id: Ie2d98adb416c1930f058bdd21c3e7d26289df503
This commit is contained in:
Thomas Clark
2014-10-17 14:46:25 -04:00
parent 08c8723174
commit 8a541a67ca
16 changed files with 199 additions and 74 deletions
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16
hal/include/HAL/HAL.hpp
View File

@@ -161,9 +161,20 @@ enum HALAllianceStationID {
kHALAllianceStationID_blue3,
};
/* The maximum number of axes that will be stored in a single HALJoystickAxes
struct. This is used for allocating buffers, not bounds checking, since
there are usually less axes in practice. */
static constexpr size_t kMaxJoystickAxes = 12;
static constexpr size_t kMaxJoystickPOVs = 12;
struct HALJoystickAxes {
uint16_t count;
int16_t axes[6];
int16_t axes[kMaxJoystickAxes];
};
struct HALJoystickPOVs {
uint16_t count;
int16_t povs[kMaxJoystickPOVs];
};
typedef uint32_t HALJoystickButtons;
@@ -199,7 +210,8 @@ extern "C"
int HALGetControlWord(HALControlWord *data);
int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes);
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
void HALSetNewDataSem(pthread_mutex_t *);

9
hal/lib/Athena/HAL.cpp
View File

@@ -125,9 +125,14 @@ int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
}
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes)
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes)
{
return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, maxAxes);
return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, kMaxJoystickAxes);
}
int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs)
{
return FRC_NetworkCommunication_getJoystickPOVs(joystickNum, (JoystickPOV_t*) povs, kMaxJoystickPOVs);
}
int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count)