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[hal] Fix controldataproto SupportsOpModes (#8476)

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It wasn't updated, so DS was always assumed to be NI DS
This commit is contained in:
Thad House
2025-12-13 16:07:23 -08:00
committed by GitHub
parent ea71bdfba6
commit bcb5c5c16c
2 changed files with 15 additions and 11 deletions
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22
hal/src/main/native/cpp/proto/ControlDataProto.cpp
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@@ -10,21 +10,23 @@
static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t)); static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
namespace { namespace {
constexpr uint32_t EnabledMask = 0x1;
constexpr uint32_t RobotModeMask = 0x6;
constexpr uint32_t EStopMask = 0x8;
constexpr uint32_t FmsConnectedMask = 0x10;
constexpr uint32_t DsConnectedMask = 0x20;
constexpr uint32_t WatchdogActiveMask = 0x40;
constexpr uint32_t AllianceMask = 0x1F80;
constexpr uint32_t EnabledShift = 0; constexpr uint32_t EnabledShift = 0;
constexpr uint32_t RobotModeShift = 1; constexpr uint32_t RobotModeShift = 1;
constexpr uint32_t EStopShift = 3; constexpr uint32_t EStopShift = 3;
constexpr uint32_t FmsConnectedShift = 4; constexpr uint32_t FmsConnectedShift = 4;
constexpr uint32_t DsConnectedShift = 5; constexpr uint32_t DsConnectedShift = 5;
constexpr uint32_t WatchdogActiveShift = 6; constexpr uint32_t WatchdogActiveShift = 6;
constexpr uint32_t AllianceShift = 7; constexpr uint32_t SupportsOpModesShift = 7;
constexpr uint32_t AllianceShift = 8;
constexpr uint32_t EnabledMask = 0x1 << EnabledShift;
constexpr uint32_t RobotModeMask = 0x3 << RobotModeShift;
constexpr uint32_t EStopMask = 0x1 << EStopShift;
constexpr uint32_t FmsConnectedMask = 0x1 << FmsConnectedShift;
constexpr uint32_t DsConnectedMask = 0x1 << DsConnectedShift;
constexpr uint32_t WatchdogActiveMask = 0x1 << WatchdogActiveShift;
constexpr uint32_t SupportsOpModesMask = 0x1 << SupportsOpModesShift;
constexpr uint32_t AllianceMask = 0xF << AllianceShift;
#define WORD_TO_INT(Name) Ret |= (Word.Name << Name##Shift) #define WORD_TO_INT(Name) Ret |= (Word.Name << Name##Shift)
@@ -36,6 +38,7 @@ constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
WORD_TO_INT(FmsConnected); WORD_TO_INT(FmsConnected);
WORD_TO_INT(DsConnected); WORD_TO_INT(DsConnected);
WORD_TO_INT(WatchdogActive); WORD_TO_INT(WatchdogActive);
WORD_TO_INT(SupportsOpModes);
WORD_TO_INT(Alliance); WORD_TO_INT(Alliance);
return Ret; return Ret;
} }
@@ -52,6 +55,7 @@ constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
INT_TO_WORD(FmsConnected); INT_TO_WORD(FmsConnected);
INT_TO_WORD(DsConnected); INT_TO_WORD(DsConnected);
INT_TO_WORD(WatchdogActive); INT_TO_WORD(WatchdogActive);
INT_TO_WORD(SupportsOpModes);
INT_TO_WORD(Alliance); INT_TO_WORD(Alliance);
return Ret; return Ret;
} }

4
hal/src/mrc/include/mrc/NetComm.h
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@@ -84,8 +84,8 @@ struct ControlFlags {
uint32_t DsConnected : 1 = 0; uint32_t DsConnected : 1 = 0;
uint32_t WatchdogActive : 1 = 0; uint32_t WatchdogActive : 1 = 0;
uint32_t SupportsOpModes : 1 = 0; uint32_t SupportsOpModes : 1 = 0;
uint32_t Alliance : 6 = 0; uint32_t Alliance : 4 = 0;
uint32_t Reserved : 18 = 0; uint32_t Reserved : 20 = 0;
constexpr bool operator==(const ControlFlags& Other) const { constexpr bool operator==(const ControlFlags& Other) const {
return Enabled == Other.Enabled && RobotMode == Other.RobotMode && return Enabled == Other.Enabled && RobotMode == Other.RobotMode &&