Added functions to get names, HID types and isXbox descriptors from joysticks.

Change-Id: I3cd6ebc04d64398f05001cd008696e13ee1ab6ea

hal/include/HAL/HAL.hpp

@@ -191,7 +191,7 @@ struct HALJoystickDescriptor {
 	uint8_t type;
 	char name[256];
 	uint8_t axisCount;
-	uint8_t axisTypes;
+	uint8_t axisTypes[kMaxJoystickAxes];
 	uint8_t buttonCount;
 	uint8_t povCount;
 };
@@ -231,6 +231,10 @@ extern "C"
 	int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
 	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons);
 	int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc);
+	int HALGetJoystickIsXbox(uint8_t joystickNum);
+	int HALGetJoystickType(uint8_t joystickNum);
+	const char* HALGetJoystickName(uint8_t joystickNum);
+	int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
 	int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
 	int HALGetMatchTime(float *matchTime);
 

hal/lib/Athena/HAL.cpp

@@ -214,7 +214,57 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
 int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
 {
 	return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name), 
-		&desc->axisCount, &desc->axisTypes, &desc->buttonCount, &desc->povCount);
+		&desc->axisCount, (uint8_t *)&desc->axisTypes, &desc->buttonCount, &desc->povCount);
+}
+
+int HALGetJoystickIsXbox(uint8_t joystickNum)
+{
+	HALJoystickDescriptor joystickDesc;
+	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
+	{
+		return 0;
+	}else
+	{
+	return joystickDesc.isXbox;
+	}
+}
+
+int HALGetJoystickType(uint8_t joystickNum)
+{
+	HALJoystickDescriptor joystickDesc;
+	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
+	{
+		return -1;
+	} else
+	{
+	return joystickDesc.type;
+	}
+}
+
+const char* HALGetJoystickName(uint8_t joystickNum)
+{
+	HALJoystickDescriptor joystickDesc;
+	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
+	{
+		const char* retval = "";
+		return retval;
+	} else
+	{
+	const char* retval(joystickDesc.name);
+	return retval;
+	}
+}
+
+int HALGetJoystickAxisType(uint8_t joystickNum, int axis)
+{
+	HALJoystickDescriptor joystickDesc;
+	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
+	{
+		return -1;
+	} else
+	{
+	return joystickDesc.axisTypes[axis];
+	}
 }
 
 int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)

wpilibc/wpilibC++Devices/include/DriverStation.h

@@ -40,7 +40,12 @@ public:
 	int GetStickAxisCount(uint32_t stick);
 	int GetStickPOVCount(uint32_t stick);
 	int GetStickButtonCount(uint32_t stick);
-
+	
+	bool GetJoystickIsXbox(uint32_t stick);
+	int GetJoystickType(uint32_t stick);
+	std::string GetJoystickName(uint32_t stick);
+	int GetJoystickAxisType(uint32_t stick, uint8_t axis);
+	
 	bool IsEnabled();
 	bool IsDisabled();
 	bool IsAutonomous();
@@ -100,6 +105,7 @@ private:
 	HALJoystickAxes m_joystickAxes[kJoystickPorts];
 	HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
 	HALJoystickButtons m_joystickButtons[kJoystickPorts];
+	HALJoystickDescriptor m_joystickDescriptor[kJoystickPorts];
 	Task m_task;
 	SEMAPHORE_ID m_newControlData;
 	MULTIWAIT_ID m_packetDataAvailableMultiWait;

wpilibc/wpilibC++Devices/include/Joystick.h

@@ -41,7 +41,11 @@ public:
 	{
 		kLeftRumble, kRightRumble
 	} RumbleType;
-
+	typedef enum
+	{
+		kUnknown = -1, kXInputUnknown = 0, kXInputGamepad = 1, kXInputWheel = 2, kXInputArcadeStick = 3, kXInputFlightStick = 4, kXInputDancePad = 5, kXInputGuitar = 6, kXInputGuitar2 = 7,
+		kXInputDrumKit = 8, kXInputGuitar3 = 11, kXInputArcadePad = 19, kHIDJoystick = 20, kHIDGamepad = 21, kHIDDriving = 22, kHIDFlight = 23, kHID1stPerson = 24
+	} HIDType;
 	explicit Joystick(uint32_t port);
 	Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
 	virtual ~Joystick();
@@ -69,6 +73,11 @@ public:
 	virtual float GetDirectionRadians();
 	virtual float GetDirectionDegrees();
 
+	bool GetIsXbox();
+	Joystick::HIDType GetType();
+	std::string GetName();
+	int GetAxisType(uint8_t axis);
+	
 	int GetAxisCount();
 	int GetButtonCount();
 	int GetPOVCount();

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -49,6 +49,9 @@ DriverStation::DriverStation()
 		m_joystickAxes[i].count = 0;
 		m_joystickPOVs[i].count = 0;
 		m_joystickButtons[i].count = 0;
+		m_joystickDescriptor[i].isXbox = 0;
+		m_joystickDescriptor[i].type = -1;
+		m_joystickDescriptor[i].name[0] = '\0';
 	}
 	// Create a new semaphore
 	m_packetDataAvailableMultiWait = initializeMultiWait();
@@ -146,6 +149,7 @@ void DriverStation::GetData()
 		HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
 		HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
 		HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
+		HALGetJoystickDescriptor(stick, &m_joystickDescriptor[stick]);
 	}
 	giveSemaphore(m_newControlData);
 }
@@ -195,6 +199,70 @@ int DriverStation::GetStickAxisCount(uint32_t stick)
 }
 
 /**
+ *Returns the name of the joystick at the given port
+ *
+ *@param stick The joystick port number
+ *@return The name of the joystick at the given port
+ */
+std::string DriverStation::GetJoystickName(uint32_t stick)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+	}
+	std::string retVal(m_joystickDescriptor[0].name);
+	return retVal;
+}
+
+/**
+ *Returns the type of joystick at a given port
+ *
+ *@param stick The joystick port number
+ *@return The HID type of joystick at the given port
+ */
+int DriverStation::GetJoystickType(uint32_t stick)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return -1;
+	}
+	return (int)m_joystickDescriptor[stick].type;
+}
+
+/**
+ *Returns a boolean indicating if the controller is an xbox controller.
+ *
+ *@param stick The joystick port number
+ *@return A boolean that is true if the controller is an xbox controller.
+ */
+bool DriverStation::GetJoystickIsXbox(uint32_t stick)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return false;
+	}
+	return (bool)m_joystickDescriptor[stick].isXbox;
+}
+
+/**
+ *Returns the types of Axes on a given joystick port
+ *
+ *@param stick The joystick port number and the target axis
+ *@return What type of axis the axis is reporting to be
+ */
+int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis)
+{
+	if (stick >= kJoystickPorts)
+	{
+		wpi_setWPIError(BadJoystickIndex);
+		return -1;
+	}
+	return m_joystickDescriptor[stick].axisTypes[axis];
+}
+
+/**	
  * Returns the number of POVs on a given joystick port
  *
  * @param stick The joystick port number

wpilibc/wpilibC++Devices/src/Joystick.cpp

@@ -9,6 +9,7 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "WPIErrors.h"
 #include <math.h>
+#include <string.h>
 
 const uint32_t Joystick::kDefaultXAxis;
 const uint32_t Joystick::kDefaultYAxis;
@@ -275,6 +276,42 @@ int Joystick::GetAxisCount()
     return m_ds->GetStickAxisCount(m_port);
 }
 
+/**
+ * Get the value of isXbox for the joystick.
+ *
+ * @return A boolean that is true if the joystick is an xbox controller.
+ */
+bool Joystick::GetIsXbox()
+{
+	return m_ds->GetJoystickIsXbox(m_port);
+}
+
+/**
+ * Get the HID type of the controller.
+ *
+ * @return the HID type of the controller.
+ */
+Joystick::HIDType Joystick::GetType()
+{
+	return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
+}
+
+/**
+ * Get the name of the joystick.
+ *
+ * @return the name of the controller.
+ */
+std::string Joystick::GetName()
+{
+	return m_ds->GetJoystickName(m_port);
+}
+
+//int Joystick::GetAxisType(uint8_t axis)
+//{
+//	return m_ds->GetJoystickAxisType(m_port, axis);
+//}
+
+
 /**
   * Get the number of axis for a joystick
   *
@@ -389,3 +426,5 @@ void Joystick::SetOutputs(uint32_t value) {
 	m_outputs = value;
 	HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
 }
+
+

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -57,6 +57,10 @@ public class DriverStation implements RobotState.Interface {
     private short[][] m_joystickAxes = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
     private short[][] m_joystickPOVs = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs];
     private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
+	private int[] m_joystickIsXbox = new int[kJoystickPorts];
+	private int[] m_joystickType = new int[kJoystickPorts];
+	private String[] m_joystickName = new String[kJoystickPorts];
+	private int[][] m_joystickAxisType = new int[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
 
     private Thread m_thread;
     private final Object m_dataSem;
@@ -273,7 +277,7 @@ public class DriverStation implements RobotState.Interface {
         return m_joystickPOVs[stick][pov];
     }
 
-    /**
+/**
     * Returns the number of POVs on a given joystick port
     *
     * @param stick The joystick port number
@@ -343,6 +347,68 @@ public class DriverStation implements RobotState.Interface {
         return m_joystickButtons[stick].count;
     }
 
+	/**
+    * Gets the value of isXbox on a joystick
+    *
+    * @param  stick The joystick port number
+	* @return A boolean that returns the value of isXbox
+    */
+    public synchronized boolean getJoystickIsXbox(int stick){
+
+        if(stick < 0 || stick >= kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 0-5");
+        }
+		//TODO: Remove this when calling for descriptor on empty stick no longer crashes
+		if(1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
+			reportJoystickUnpluggedError("WARNING: Joystick on port " + stick + " not available, check if controller is plugged in\n");
+            return false;
+		}
+		boolean retVal = false;
+		if(FRCNetworkCommunicationsLibrary.HALGetJoystickIsXbox((byte)stick)==1)
+		{
+			retVal = true;
+		} 
+		return retVal;
+    }
+
+	/**
+    * Gets the value of type on a joystick
+    *
+    * @param  stick The joystick port number
+	* @return The value of type
+    */
+    public synchronized int getJoystickType(int stick){
+
+        if(stick < 0 || stick >= kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 0-5");
+        }
+			//TODO: Remove this when calling for descriptor on empty stick no longer crashes
+			if(1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
+			reportJoystickUnpluggedError("WARNING: Joystick on port " + stick + " not available, check if controller is plugged in\n");
+            return -1;
+		}
+        return FRCNetworkCommunicationsLibrary.HALGetJoystickType((byte) stick);
+    }
+	
+	/**
+    * Gets the name of the joystick at a port
+    *
+    * @param  stick The joystick port number
+	* @return The value of name
+    */
+    public synchronized String getJoystickName(int stick){
+
+        if(stick < 0 || stick >= kJoystickPorts) {
+            throw new RuntimeException("Joystick index is out of range, should be 0-5");
+        }
+			//TODO: Remove this when calling for descriptor on empty stick no longer crashes
+			if(1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
+			reportJoystickUnpluggedError("WARNING: Joystick on port " + stick + " not available, check if controller is plugged in\n");
+            return "";
+		}
+        return FRCNetworkCommunicationsLibrary.HALGetJoystickName((byte)stick);
+    }	
+
     /**
      * Gets a value indicating whether the Driver Station requires the
      * robot to be enabled.

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -412,6 +412,33 @@ public class Joystick extends GenericHID {
         m_axes[axis.value] = (byte) channel;
     }
     
+	/**
+     * Get the value of isXbox for the current joystick.
+     * 
+     * @param value A boolean that is true if the controller is an xbox controller.
+     */
+	public boolean getIsXbox() {
+		return m_ds.getJoystickIsXbox(m_port);
+	}
+	
+	/**
+     * Get the HID type of the current joystick.
+     * 
+     * @param value The HID type value of the current joystick.
+     */
+	public int getType() {
+		return m_ds.getJoystickType(m_port);
+	}
+	
+	/**
+     * Get the name of the current joystick.
+     * 
+     * @param value The name of the current joystick.
+     */
+	public String getName() {
+		return m_ds.getJoystickName(m_port);
+	}
+	
     /**
      * Set the rumble output for the joystick. The DS currently supports 2 rumble values,
      * left rumble and right rumble

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java

@@ -477,6 +477,9 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 		case 5:
 			return HALAllianceStationID.Blue3;
 		default:
+			return null;
+		}
+	}
 
 	public static int kMaxJoystickAxes = 12;
 	public static int kMaxJoystickPOVs = 12;

wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp

@@ -355,6 +355,42 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 	return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetJoystickIsXbox
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
+  (JNIEnv *, jclass, jbyte port)
+  {
+	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
+	return HALGetJoystickIsXbox(port);
+  }
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetJoystickType
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
+  (JNIEnv *, jclass, jbyte port)
+  {
+	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
+	return HALGetJoystickType(port);
+  }
+
+/*
+ * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
+ * Method:    HALGetJoystickName
+ * Signature: (B)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
+  (JNIEnv * env, jclass, jbyte port)
+  {
+	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
+	return env->NewStringUTF(HALGetJoystickName(port));
+  }
+
 /*
  * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
  * Method:    setNewDataSem