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[hal] Add initial SystemServer support (#7463)

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Thad House
2024-12-01 04:31:26 +00:00
committed by GitHub
parent 82132c3272
commit c51f65bd4f
39 changed files with 1658 additions and 83 deletions
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305
hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.cpp generated Normal file
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@@ -0,0 +1,305 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.9 */
#include "MrcComm.npb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
#include <span>
#include <string_view>
static const uint8_t file_descriptor[] {
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static const char file_name[] = "MrcComm.proto";
static const char mrc_proto_ProtobufJoystickData_name[] = "mrc.proto.ProtobufJoystickData";
std::string_view mrc_proto_ProtobufJoystickData::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickData_name; }
pb_filedesc_t mrc_proto_ProtobufJoystickData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufJoystickData, mrc_proto_ProtobufJoystickData, AUTO)
static const char mrc_proto_ProtobufControlData_name[] = "mrc.proto.ProtobufControlData";
std::string_view mrc_proto_ProtobufControlData::msg_name(void) noexcept { return mrc_proto_ProtobufControlData_name; }
pb_filedesc_t mrc_proto_ProtobufControlData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufControlData, mrc_proto_ProtobufControlData, AUTO)
static const char mrc_proto_ProtobufJoystickDescriptor_name[] = "mrc.proto.ProtobufJoystickDescriptor";
std::string_view mrc_proto_ProtobufJoystickDescriptor::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickDescriptor_name; }
pb_filedesc_t mrc_proto_ProtobufJoystickDescriptor::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufJoystickDescriptor, mrc_proto_ProtobufJoystickDescriptor, AUTO)
static const char mrc_proto_ProtobufJoystickOutputData_name[] = "mrc.proto.ProtobufJoystickOutputData";
std::string_view mrc_proto_ProtobufJoystickOutputData::msg_name(void) noexcept { return mrc_proto_ProtobufJoystickOutputData_name; }
pb_filedesc_t mrc_proto_ProtobufJoystickOutputData::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufJoystickOutputData, mrc_proto_ProtobufJoystickOutputData, AUTO)
static const char mrc_proto_ProtobufVersionInfo_name[] = "mrc.proto.ProtobufVersionInfo";
std::string_view mrc_proto_ProtobufVersionInfo::msg_name(void) noexcept { return mrc_proto_ProtobufVersionInfo_name; }
pb_filedesc_t mrc_proto_ProtobufVersionInfo::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufVersionInfo, mrc_proto_ProtobufVersionInfo, AUTO)
static const char mrc_proto_ProtobufMatchInfo_name[] = "mrc.proto.ProtobufMatchInfo";
std::string_view mrc_proto_ProtobufMatchInfo::msg_name(void) noexcept { return mrc_proto_ProtobufMatchInfo_name; }
pb_filedesc_t mrc_proto_ProtobufMatchInfo::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
PB_BIND(mrc_proto_ProtobufMatchInfo, mrc_proto_ProtobufMatchInfo, AUTO)

185
hal/src/generated/main/native/cpp/mrc/protobuf/MrcComm.npb.h generated Normal file
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@@ -0,0 +1,185 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.9 */
#ifndef PB_MRC_PROTO_MRCCOMM_NPB_H_INCLUDED
#define PB_MRC_PROTO_MRCCOMM_NPB_H_INCLUDED
#include <pb.h>
#include <span>
#include <string_view>
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _mrc_proto_ProtobufJoystickData {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
uint32_t ButtonCount;
uint32_t Buttons;
pb_callback_t Axes;
pb_callback_t POVs;
} mrc_proto_ProtobufJoystickData;
typedef struct _mrc_proto_ProtobufControlData {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
uint32_t ControlWord;
float MatchTime;
pb_callback_t Joysticks;
pb_callback_t OpMode;
} mrc_proto_ProtobufControlData;
typedef struct _mrc_proto_ProtobufJoystickDescriptor {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
pb_callback_t JoystickName;
pb_callback_t AxisTypes;
bool IsXbox;
int32_t JoystickType;
int32_t ButtonCount;
int32_t PovCount;
} mrc_proto_ProtobufJoystickDescriptor;
typedef struct _mrc_proto_ProtobufJoystickOutputData {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
uint32_t HidOutputs;
float LeftRumble;
float RightRumble;
} mrc_proto_ProtobufJoystickOutputData;
typedef struct _mrc_proto_ProtobufVersionInfo {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
uint32_t DeviceId;
pb_callback_t Name;
pb_callback_t Version;
} mrc_proto_ProtobufVersionInfo;
typedef struct _mrc_proto_ProtobufMatchInfo {
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
static std::string_view msg_name(void) noexcept;
static pb_filedesc_t file_descriptor(void) noexcept;
pb_callback_t EventName;
int32_t MatchNumber;
int32_t ReplayNumber;
int32_t MatchType;
} mrc_proto_ProtobufMatchInfo;
/* Initializer values for message structs */
#define mrc_proto_ProtobufJoystickData_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufControlData_init_default {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufJoystickDescriptor_init_default {{{NULL}, NULL}, {{NULL}, NULL}, 0, 0, 0, 0}
#define mrc_proto_ProtobufJoystickOutputData_init_default {0, 0, 0}
#define mrc_proto_ProtobufVersionInfo_init_default {0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufMatchInfo_init_default {{{NULL}, NULL}, 0, 0, 0}
#define mrc_proto_ProtobufJoystickData_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufControlData_init_zero {0, 0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufJoystickDescriptor_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, 0, 0, 0, 0}
#define mrc_proto_ProtobufJoystickOutputData_init_zero {0, 0, 0}
#define mrc_proto_ProtobufVersionInfo_init_zero {0, {{NULL}, NULL}, {{NULL}, NULL}}
#define mrc_proto_ProtobufMatchInfo_init_zero {{{NULL}, NULL}, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define mrc_proto_ProtobufJoystickData_ButtonCount_tag 1
#define mrc_proto_ProtobufJoystickData_Buttons_tag 2
#define mrc_proto_ProtobufJoystickData_Axes_tag 3
#define mrc_proto_ProtobufJoystickData_POVs_tag 4
#define mrc_proto_ProtobufControlData_ControlWord_tag 1
#define mrc_proto_ProtobufControlData_MatchTime_tag 2
#define mrc_proto_ProtobufControlData_Joysticks_tag 3
#define mrc_proto_ProtobufControlData_OpMode_tag 4
#define mrc_proto_ProtobufJoystickDescriptor_JoystickName_tag 1
#define mrc_proto_ProtobufJoystickDescriptor_AxisTypes_tag 2
#define mrc_proto_ProtobufJoystickDescriptor_IsXbox_tag 3
#define mrc_proto_ProtobufJoystickDescriptor_JoystickType_tag 4
#define mrc_proto_ProtobufJoystickDescriptor_ButtonCount_tag 5
#define mrc_proto_ProtobufJoystickDescriptor_PovCount_tag 6
#define mrc_proto_ProtobufJoystickOutputData_HidOutputs_tag 1
#define mrc_proto_ProtobufJoystickOutputData_LeftRumble_tag 2
#define mrc_proto_ProtobufJoystickOutputData_RightRumble_tag 3
#define mrc_proto_ProtobufVersionInfo_DeviceId_tag 1
#define mrc_proto_ProtobufVersionInfo_Name_tag 2
#define mrc_proto_ProtobufVersionInfo_Version_tag 3
#define mrc_proto_ProtobufMatchInfo_EventName_tag 1
#define mrc_proto_ProtobufMatchInfo_MatchNumber_tag 2
#define mrc_proto_ProtobufMatchInfo_ReplayNumber_tag 3
#define mrc_proto_ProtobufMatchInfo_MatchType_tag 4
/* Struct field encoding specification for nanopb */
#define mrc_proto_ProtobufJoystickData_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, UINT32, ButtonCount, 1) \
X(a, STATIC, SINGULAR, FIXED32, Buttons, 2) \
X(a, CALLBACK, REPEATED, FLOAT, Axes, 3) \
X(a, CALLBACK, REPEATED, SINT32, POVs, 4)
#define mrc_proto_ProtobufJoystickData_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufJoystickData_DEFAULT NULL
#define mrc_proto_ProtobufControlData_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, UINT32, ControlWord, 1) \
X(a, STATIC, SINGULAR, FLOAT, MatchTime, 2) \
X(a, CALLBACK, REPEATED, MESSAGE, Joysticks, 3) \
X(a, CALLBACK, SINGULAR, STRING, OpMode, 4)
#define mrc_proto_ProtobufControlData_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufControlData_DEFAULT NULL
#define mrc_proto_ProtobufControlData_Joysticks_MSGTYPE mrc_proto_ProtobufJoystickData
#define mrc_proto_ProtobufJoystickDescriptor_FIELDLIST(X, a) \
X(a, CALLBACK, SINGULAR, STRING, JoystickName, 1) \
X(a, CALLBACK, REPEATED, INT32, AxisTypes, 2) \
X(a, STATIC, SINGULAR, BOOL, IsXbox, 3) \
X(a, STATIC, SINGULAR, INT32, JoystickType, 4) \
X(a, STATIC, SINGULAR, INT32, ButtonCount, 5) \
X(a, STATIC, SINGULAR, INT32, PovCount, 6)
#define mrc_proto_ProtobufJoystickDescriptor_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufJoystickDescriptor_DEFAULT NULL
#define mrc_proto_ProtobufJoystickOutputData_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, FIXED32, HidOutputs, 1) \
X(a, STATIC, SINGULAR, FLOAT, LeftRumble, 2) \
X(a, STATIC, SINGULAR, FLOAT, RightRumble, 3)
#define mrc_proto_ProtobufJoystickOutputData_CALLBACK NULL
#define mrc_proto_ProtobufJoystickOutputData_DEFAULT NULL
#define mrc_proto_ProtobufVersionInfo_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, FIXED32, DeviceId, 1) \
X(a, CALLBACK, SINGULAR, STRING, Name, 2) \
X(a, CALLBACK, SINGULAR, STRING, Version, 3)
#define mrc_proto_ProtobufVersionInfo_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufVersionInfo_DEFAULT NULL
#define mrc_proto_ProtobufMatchInfo_FIELDLIST(X, a) \
X(a, CALLBACK, SINGULAR, STRING, EventName, 1) \
X(a, STATIC, SINGULAR, INT32, MatchNumber, 2) \
X(a, STATIC, SINGULAR, INT32, ReplayNumber, 3) \
X(a, STATIC, SINGULAR, INT32, MatchType, 4)
#define mrc_proto_ProtobufMatchInfo_CALLBACK pb_default_field_callback
#define mrc_proto_ProtobufMatchInfo_DEFAULT NULL
/* Maximum encoded size of messages (where known) */
/* mrc_proto_ProtobufJoystickData_size depends on runtime parameters */
/* mrc_proto_ProtobufControlData_size depends on runtime parameters */
/* mrc_proto_ProtobufJoystickDescriptor_size depends on runtime parameters */
/* mrc_proto_ProtobufVersionInfo_size depends on runtime parameters */
/* mrc_proto_ProtobufMatchInfo_size depends on runtime parameters */
#define MRC_PROTO_MRCCOMM_NPB_H_MAX_SIZE mrc_proto_ProtobufJoystickOutputData_size
#define mrc_proto_ProtobufJoystickOutputData_size 15
#endif

163
hal/src/main/native/cpp/proto/ControlDataProto.cpp Normal file
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@@ -0,0 +1,163 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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/protobuf/ProtobufCallbacks.h>
#include "hal/proto/ControlData.h"
static_assert(sizeof(mrc::ControlFlags) == sizeof(uint32_t));
namespace {
constexpr uint32_t EnabledMask = 0x1;
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 EStopShift = 3;
constexpr uint32_t FmsConnectedShift = 4;
constexpr uint32_t DsConnectedShift = 5;
constexpr uint32_t WatchdogActiveShift = 6;
constexpr uint32_t AllianceShift = 7;
#define WORD_TO_INT(Name) Ret |= (Word.Name << Name##Shift)
constexpr uint32_t FromControlWord(mrc::ControlFlags Word) {
uint32_t Ret = 0;
WORD_TO_INT(Enabled);
WORD_TO_INT(EStop);
WORD_TO_INT(FmsConnected);
WORD_TO_INT(DsConnected);
WORD_TO_INT(WatchdogActive);
WORD_TO_INT(Alliance);
return Ret;
}
#undef WORD_TO_INT
#define INT_TO_WORD(Name) Ret.Name = ((Word & Name##Mask) >> Name##Shift)
constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
mrc::ControlFlags Ret = {};
INT_TO_WORD(Enabled);
INT_TO_WORD(EStop);
INT_TO_WORD(FmsConnected);
INT_TO_WORD(DsConnected);
INT_TO_WORD(WatchdogActive);
INT_TO_WORD(Alliance);
return Ret;
}
} // namespace
std::optional<mrc::ControlData> wpi::Protobuf<mrc::ControlData>::Unpack(
InputStream& Stream) {
wpi::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
wpi::UnpackCallback<std::string> OpModeCb;
mrc_proto_ProtobufControlData Msg{
.ControlWord = 0,
.MatchTime = 0,
.Joysticks = JoystickCb.Callback(),
.OpMode = OpModeCb.Callback(),
};
if (!Stream.Decode(Msg)) {
return {};
}
auto Joysticks = JoystickCb.Items();
auto OpMode = OpModeCb.Items();
mrc::ControlData ControlData;
if (!OpMode.empty()) {
ControlData.MoveOpMode(std::move(OpMode[0]));
}
ControlData.ControlWord = ToControlWord(Msg.ControlWord);
ControlData.MatchTime = Msg.MatchTime;
ControlData.SetJoystickCount(Joysticks.size());
for (size_t i = 0; i < ControlData.GetJoystickCount(); i++) {
ControlData.Joysticks()[i] = Joysticks[i];
}
return ControlData;
}
bool wpi::Protobuf<mrc::ControlData>::Pack(OutputStream& Stream,
const mrc::ControlData& Value) {
std::string_view OpMode = Value.GetOpMode();
wpi::PackCallback OpModeCb{&OpMode};
std::span<const mrc::Joystick> Sticks = Value.Joysticks();
wpi::PackCallback Joysticks{Sticks};
mrc_proto_ProtobufControlData Msg{
.ControlWord = FromControlWord(Value.ControlWord),
.MatchTime = Value.MatchTime,
.Joysticks = Joysticks.Callback(),
.OpMode = OpModeCb.Callback(),
};
return Stream.Encode(Msg);
}
std::optional<mrc::Joystick> wpi::Protobuf<mrc::Joystick>::Unpack(
InputStream& Stream) {
wpi::UnpackCallback<float, MRC_MAX_NUM_AXES> AxesCb;
wpi::UnpackCallback<uint16_t, MRC_MAX_NUM_POVS> PovsCb;
mrc_proto_ProtobufJoystickData Msg{
.ButtonCount = 0,
.Buttons = 0,
.Axes = AxesCb.Callback(),
.POVs = PovsCb.Callback(),
};
if (!Stream.Decode(Msg)) {
return {};
}
auto Axes = AxesCb.Items();
auto Povs = PovsCb.Items();
mrc::Joystick Joystick;
Joystick.Axes.SetCount(Axes.size());
for (size_t i = 0; i < Joystick.Axes.GetCount(); i++) {
Joystick.Axes.Axes()[i] = Axes[i];
}
Joystick.Povs.SetCount(Povs.size());
for (size_t i = 0; i < Joystick.Povs.GetCount(); i++) {
Joystick.Povs.Povs()[i] = Povs[i];
}
Joystick.Buttons.SetCount(Msg.ButtonCount);
Joystick.Buttons.Buttons = Msg.Buttons;
return Joystick;
}
bool wpi::Protobuf<mrc::Joystick>::Pack(OutputStream& Stream,
const mrc::Joystick& Value) {
wpi::PackCallback AxesCb{Value.Axes.Axes()};
wpi::PackCallback PovsCb{Value.Povs.Povs()};
mrc_proto_ProtobufJoystickData Msg{
.ButtonCount = static_cast<uint32_t>(Value.Buttons.GetCount()),
.Buttons = Value.Buttons.Buttons,
.Axes = AxesCb.Callback(),
.POVs = PovsCb.Callback(),
};
return Stream.Encode(Msg);
}

68
hal/src/main/native/cpp/proto/JoystickDescriptorProto.cpp Normal file
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@@ -0,0 +1,68 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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/protobuf/ProtobufCallbacks.h>
#include "hal/proto/JoystickDescriptor.h"
std::optional<mrc::JoystickDescriptor>
wpi::Protobuf<mrc::JoystickDescriptor>::Unpack(InputStream& Stream) {
wpi::UnpackCallback<std::string> JoystickNameCb;
wpi::UnpackCallback<uint8_t, MRC_MAX_NUM_AXES> AxisTypesCb;
mrc_proto_ProtobufJoystickDescriptor Msg;
Msg.JoystickName = JoystickNameCb.Callback();
Msg.AxisTypes = AxisTypesCb.Callback();
if (!Stream.Decode(Msg)) {
return {};
}
auto JoystickName = JoystickNameCb.Items();
auto AxisTypes = AxisTypesCb.Items();
if (JoystickName.empty()) {
return {};
}
mrc::JoystickDescriptor OutputData;
OutputData.MoveName(std::move(JoystickName[0]));
OutputData.SetAxesCount(AxisTypes.size());
for (size_t i = 0; i < OutputData.GetAxesCount(); i++) {
OutputData.AxesTypes()[i] = AxisTypes[i];
}
OutputData.SetPovsCount(Msg.PovCount);
OutputData.SetButtonsCount(Msg.ButtonCount);
OutputData.IsXbox = Msg.IsXbox ? 1 : 0;
OutputData.Type = Msg.JoystickType;
return OutputData;
}
bool wpi::Protobuf<mrc::JoystickDescriptor>::Pack(
OutputStream& Stream, const mrc::JoystickDescriptor& Value) {
std::string_view JoystickName = Value.GetName();
wpi::PackCallback JoystickNameCb{&JoystickName};
std::span<const uint8_t> AxisTypes = Value.AxesTypes();
wpi::PackCallback AxisTypesCb{AxisTypes};
mrc_proto_ProtobufJoystickDescriptor Msg{
.JoystickName = JoystickNameCb.Callback(),
.AxisTypes = AxisTypesCb.Callback(),
.IsXbox = Value.IsXbox ? true : false,
.JoystickType = Value.Type,
.ButtonCount = static_cast<int32_t>(Value.GetButtonsCount()),
.PovCount = static_cast<int32_t>(Value.GetPovsCount()),
};
return Stream.Encode(Msg);
}

33
hal/src/main/native/cpp/proto/JoystickOutputDataProto.cpp Normal file
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@@ -0,0 +1,33 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 <wpi/protobuf/ProtobufCallbacks.h>
#include "hal/proto/JoystickOutputData.h"
std::optional<mrc::JoystickOutputData>
wpi::Protobuf<mrc::JoystickOutputData>::Unpack(InputStream& Stream) {
mrc_proto_ProtobufJoystickOutputData Msg;
if (!Stream.Decode(Msg)) {
return {};
}
return mrc::JoystickOutputData{
.HidOutputs = Msg.HidOutputs,
.LeftRumble = Msg.LeftRumble,
.RightRumble = Msg.RightRumble,
};
}
bool wpi::Protobuf<mrc::JoystickOutputData>::Pack(
OutputStream& Stream, const mrc::JoystickOutputData& Value) {
mrc_proto_ProtobufJoystickOutputData Msg{
.HidOutputs = Value.HidOutputs,
.LeftRumble = Value.LeftRumble,
.RightRumble = Value.RightRumble,
};
return Stream.Encode(Msg);
}

52
hal/src/main/native/cpp/proto/MatchInfoProto.cpp Normal file
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@@ -0,0 +1,52 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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/protobuf/ProtobufCallbacks.h>
#include "hal/proto/MatchInfo.h"
std::optional<mrc::MatchInfo> wpi::Protobuf<mrc::MatchInfo>::Unpack(
InputStream& Stream) {
wpi::UnpackCallback<std::string> NameCb;
mrc_proto_ProtobufMatchInfo Msg;
Msg.EventName = NameCb.Callback();
if (!Stream.Decode(Msg)) {
return {};
}
auto Name = NameCb.Items();
if (Name.empty()) {
return {};
}
mrc::MatchInfo OutputData;
OutputData.MoveEventName(std::move(Name[0]));
OutputData.MatchNumber = Msg.MatchNumber;
OutputData.ReplayNumber = Msg.ReplayNumber;
OutputData.Type = static_cast<mrc::MatchType>(Msg.MatchType);
return OutputData;
}
bool wpi::Protobuf<mrc::MatchInfo>::Pack(OutputStream& Stream,
const mrc::MatchInfo& Value) {
std::string_view EventNameStr = Value.GetEventName();
wpi::PackCallback EventName{&EventNameStr};
mrc_proto_ProtobufMatchInfo Msg{
.EventName = EventName.Callback(),
.MatchNumber = Value.MatchNumber,
.ReplayNumber = Value.ReplayNumber,
.MatchType = static_cast<int32_t>(Value.Type),
};
return Stream.Encode(Msg);
}

56
hal/src/main/native/cpp/proto/VersionInfoProto.cpp Normal file
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@@ -0,0 +1,56 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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/protobuf/ProtobufCallbacks.h>
#include "hal/proto/VersionInfo.h"
std::optional<mrc::VersionInfo> wpi::Protobuf<mrc::VersionInfo>::Unpack(
InputStream& Stream) {
wpi::UnpackCallback<std::string> NameCb;
wpi::UnpackCallback<std::string> VersionCb;
mrc_proto_ProtobufVersionInfo Msg{
.DeviceId = 0,
.Name = NameCb.Callback(),
.Version = VersionCb.Callback(),
};
if (!Stream.Decode(Msg)) {
return {};
}
auto Name = NameCb.Items();
auto Version = VersionCb.Items();
if (Name.empty() || Version.empty()) {
return {};
}
mrc::VersionInfo ToRet;
ToRet.DeviceId = Msg.DeviceId;
ToRet.MoveName(std::move(Name[0]));
ToRet.MoveVersion(std::move(Version[0]));
return ToRet;
}
bool wpi::Protobuf<mrc::VersionInfo>::Pack(OutputStream& Stream,
const mrc::VersionInfo& Value) {
std::string_view NameView = Value.GetName();
std::string_view VersionView = Value.GetVersion();
wpi::PackCallback NameCb{&NameView};
wpi::PackCallback VersionCb{&VersionView};
mrc_proto_ProtobufVersionInfo Msg{
.DeviceId = Value.DeviceId,
.Name = NameCb.Callback(),
.Version = VersionCb.Callback(),
};
return Stream.Encode(Msg);
}

30
hal/src/main/native/include/hal/proto/ControlData.h Normal file
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@@ -0,0 +1,30 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::ControlData> {
using MessageStruct = mrc_proto_ProtobufControlData;
using InputStream = wpi::ProtoInputStream<mrc::ControlData>;
using OutputStream = wpi::ProtoOutputStream<mrc::ControlData>;
static std::optional<mrc::ControlData> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::ControlData& Value);
};
template <>
struct wpi::Protobuf<mrc::Joystick> {
using MessageStruct = mrc_proto_ProtobufJoystickData;
using InputStream = wpi::ProtoInputStream<mrc::Joystick>;
using OutputStream = wpi::ProtoOutputStream<mrc::Joystick>;
static std::optional<mrc::Joystick> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::Joystick& Value);
};

21
hal/src/main/native/include/hal/proto/JoystickDescriptor.h Normal file
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@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::JoystickDescriptor> {
using MessageStruct = mrc_proto_ProtobufJoystickDescriptor;
using InputStream = wpi::ProtoInputStream<mrc::JoystickDescriptor>;
using OutputStream = wpi::ProtoOutputStream<mrc::JoystickDescriptor>;
static std::optional<mrc::JoystickDescriptor> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::JoystickDescriptor& Value);
};

21
hal/src/main/native/include/hal/proto/JoystickOutputData.h Normal file
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@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::JoystickOutputData> {
using MessageStruct = mrc_proto_ProtobufJoystickOutputData;
using InputStream = wpi::ProtoInputStream<mrc::JoystickOutputData>;
using OutputStream = wpi::ProtoOutputStream<mrc::JoystickOutputData>;
static std::optional<mrc::JoystickOutputData> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::JoystickOutputData& Value);
};

21
hal/src/main/native/include/hal/proto/MatchInfo.h Normal file
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@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::MatchInfo> {
using MessageStruct = mrc_proto_ProtobufMatchInfo;
using InputStream = wpi::ProtoInputStream<mrc::MatchInfo>;
using OutputStream = wpi::ProtoOutputStream<mrc::MatchInfo>;
static std::optional<mrc::MatchInfo> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::MatchInfo& Value);
};

21
hal/src/main/native/include/hal/proto/VersionInfo.h Normal file
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@@ -0,0 +1,21 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <wpi/protobuf/Protobuf.h>
#include "MrcComm.npb.h"
#include "mrc/NetComm.h"
template <>
struct wpi::Protobuf<mrc::VersionInfo> {
using MessageStruct = mrc_proto_ProtobufVersionInfo;
using InputStream = wpi::ProtoInputStream<mrc::VersionInfo>;
using OutputStream = wpi::ProtoOutputStream<mrc::VersionInfo>;
static std::optional<mrc::VersionInfo> Unpack(InputStream& Stream);
static bool Pack(OutputStream& Stream, const mrc::VersionInfo& Value);
};

4
hal/src/main/native/systemcore/HAL.cpp
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@@ -27,11 +27,11 @@
#include "HALInitializer.h"
#include "HALInternal.h"
#include "SystemServer.h"
#include "hal/DriverStation.h"
#include "hal/Errors.h"
#include "hal/Notifier.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/roborio/HMB.h"
using namespace hal;
@@ -337,6 +337,8 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
prctl(PR_SET_PDEATHSIG, SIGTERM);
hal::InitializeSystemServer();
// // Return false if program failed to kill an existing program
// if (!killExistingProgram(timeout, mode)) {
// return false;

35
hal/src/main/native/systemcore/SystemServer.cpp Normal file
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@@ -0,0 +1,35 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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 "SystemServer.h"
#include "mrc/NtNetComm.h"
namespace hal {
static nt::NetworkTableInstance ServerInstance;
void InitializeSystemServer() {
if (ServerInstance) {
return;
}
ServerInstance = nt::NetworkTableInstance::Create();
ServerInstance.SetServer("localhost", ROBOT_SYSTEM_SERVER_NT_PORT);
ServerInstance.StartClient4("RobotProgram");
}
void ShutdownSystemServer() {
if (!ServerInstance) {
return;
}
ServerInstance.StopClient();
nt::NetworkTableInstance::Destroy(ServerInstance);
}
nt::NetworkTableInstance GetSystemServer() {
return ServerInstance;
}
} // namespace hal

13
hal/src/main/native/systemcore/SystemServer.h Normal file
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@@ -0,0 +1,13 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <networktables/NetworkTableInstance.h>
namespace hal {
void InitializeSystemServer();
void ShutdownSystemServer();
nt::NetworkTableInstance GetSystemServer();
} // namespace hal

308
hal/src/mrc/include/mrc/NetComm.h Normal file
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@@ -0,0 +1,308 @@
// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#include <stdint.h>
#include <array>
#include <span>
#include <string>
#include <string_view>
#include <utility>
#include "mrc/NtNetComm.h"
namespace mrc {
struct ControlFlags {
uint32_t Enabled : 1;
uint32_t ModeReserved : 2;
uint32_t EStop : 1;
uint32_t FmsConnected : 1;
uint32_t DsConnected : 1;
uint32_t WatchdogActive : 1;
uint32_t Alliance : 6;
uint32_t Reserved : 19;
};
struct JoystickAxes {
public:
std::span<float> Axes() { return std::span{AxesStore.data(), GetCount()}; }
std::span<const float> Axes() const {
return std::span{AxesStore.data(), GetCount()};
}
void SetCount(uint8_t NewCount) {
Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
}
size_t GetCount() const { return Count; }
private:
std::array<float, MRC_MAX_NUM_AXES> AxesStore;
uint8_t Count{0};
};
struct JoystickPovs {
public:
std::span<int16_t> Povs() { return std::span{PovsStore.data(), GetCount()}; }
std::span<const int16_t> Povs() const {
return std::span{PovsStore.data(), GetCount()};
}
void SetCount(uint8_t NewCount) {
Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
}
size_t GetCount() const { return Count; }
private:
std::array<int16_t, MRC_MAX_NUM_POVS> PovsStore;
uint8_t Count{0};
};
struct JoystickButtons {
uint32_t Buttons;
void SetCount(uint8_t NewCount) {
Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
}
size_t GetCount() const { return Count; }
private:
uint8_t Count{0};
};
struct Joystick {
JoystickAxes Axes;
JoystickPovs Povs;
JoystickButtons Buttons;
};
struct ControlData {
ControlFlags ControlWord;
float MatchTime;
std::span<Joystick> Joysticks() {
return std::span{JoysticksStore.data(), GetJoystickCount()};
}
std::span<const Joystick> Joysticks() const {
return std::span{JoysticksStore.data(), GetJoystickCount()};
}
size_t GetJoystickCount() const { return JoystickCount; }
void SetJoystickCount(uint8_t NewCount) {
JoystickCount =
(std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_JOYSTICKS));
}
void SetOpMode(std::string_view Mode) {
if (Mode.size() > MRC_MAX_OPMODE_LEN) {
Mode = Mode.substr(0, MRC_MAX_OPMODE_LEN);
}
OpMode = Mode;
}
void MoveOpMode(std::string&& Mode) {
OpMode = std::move(Mode);
if (OpMode.size() > MRC_MAX_OPMODE_LEN) {
OpMode.resize(MRC_MAX_OPMODE_LEN);
}
}
std::string_view GetOpMode() const { return OpMode; }
std::span<uint8_t> WritableOpModeBuffer(size_t Len) {
if (Len > MRC_MAX_OPMODE_LEN) {
Len = MRC_MAX_OPMODE_LEN;
}
OpMode.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(OpMode.data()),
OpMode.size()};
}
private:
std::array<Joystick, MRC_MAX_NUM_JOYSTICKS> JoysticksStore;
uint8_t JoystickCount{0};
std::string OpMode;
};
struct JoystickOutputData {
uint32_t HidOutputs{0};
float LeftRumble{0};
float RightRumble{0};
};
enum class MatchType : uint8_t {
None = 0,
Practice = 1,
Qualification = 2,
Playoff = 3,
Test = 4,
};
struct MatchInfo {
uint16_t MatchNumber{0};
uint8_t ReplayNumber{0};
MatchType Type{MatchType::None};
void SetEventName(std::string_view Name) {
if (Name.size() > MRC_MAX_EVENT_NAME_LEN) {
Name = Name.substr(0, MRC_MAX_EVENT_NAME_LEN);
}
EventName = Name;
}
void MoveEventName(std::string&& Name) {
EventName = std::move(Name);
if (EventName.size() > MRC_MAX_EVENT_NAME_LEN) {
EventName.resize(MRC_MAX_EVENT_NAME_LEN);
}
}
std::string_view GetEventName() const { return EventName; }
std::span<uint8_t> WritableNameBuffer(size_t Len) {
if (Len > MRC_MAX_EVENT_NAME_LEN) {
Len = MRC_MAX_EVENT_NAME_LEN;
}
EventName.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(EventName.data()),
EventName.size()};
}
private:
std::string EventName;
};
struct JoystickDescriptor {
public:
bool IsXbox{0};
uint8_t Type{0};
std::span<uint8_t> AxesTypes() {
return std::span{AxesTypesStore.data(), GetAxesCount()};
}
std::span<const uint8_t> AxesTypes() const {
return std::span{AxesTypesStore.data(), GetAxesCount()};
}
void SetAxesCount(uint8_t NewCount) {
AxesCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
}
size_t GetAxesCount() const { return AxesCount; }
void SetPovsCount(uint8_t NewCount) {
PovCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
}
size_t GetPovsCount() const { return PovCount; }
void SetButtonsCount(uint8_t NewCount) {
ButtonCount =
(std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
}
size_t GetButtonsCount() const { return ButtonCount; }
void SetName(std::string_view Name) {
if (Name.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
Name = Name.substr(0, MRC_MAX_JOYSTICK_NAME_LEN);
}
JoystickName = Name;
}
void MoveName(std::string&& Name) {
JoystickName = std::move(Name);
if (JoystickName.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
JoystickName.resize(MRC_MAX_JOYSTICK_NAME_LEN);
}
}
std::string_view GetName() const { return JoystickName; }
std::span<uint8_t> WritableNameBuffer(size_t Len) {
if (Len > MRC_MAX_JOYSTICK_NAME_LEN) {
Len = MRC_MAX_JOYSTICK_NAME_LEN;
}
JoystickName.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(JoystickName.data()),
JoystickName.size()};
}
private:
std::string JoystickName;
std::array<uint8_t, MRC_MAX_NUM_AXES> AxesTypesStore;
uint8_t AxesCount{0};
uint8_t ButtonCount{0};
uint8_t PovCount{0};
};
struct VersionInfo {
uint32_t DeviceId{0};
void SetName(std::string_view NewName) {
if (NewName.size() > MRC_MAX_VERSION_SIZE) {
NewName = NewName.substr(0, MRC_MAX_VERSION_SIZE);
}
Name = NewName;
}
void MoveName(std::string&& NewName) {
Name = std::move(NewName);
if (Name.size() > MRC_MAX_VERSION_SIZE) {
Name.resize(MRC_MAX_VERSION_SIZE);
}
}
std::string_view GetName() const { return Name; }
std::span<uint8_t> WritableNameBuffer(size_t Len) {
if (Len > MRC_MAX_VERSION_SIZE) {
Len = MRC_MAX_VERSION_SIZE;
}
Name.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Name.data()),
Name.size()};
}
void SetVersion(std::string_view NewVersion) {
if (NewVersion.size() > MRC_MAX_VERSION_SIZE) {
NewVersion = NewVersion.substr(0, MRC_MAX_VERSION_SIZE);
}
Version = NewVersion;
}
void MoveVersion(std::string&& NewVersion) {
Version = std::move(NewVersion);
if (Version.size() > MRC_MAX_VERSION_SIZE) {
Version.resize(MRC_MAX_VERSION_SIZE);
}
}
std::string_view GetVersion() const { return Version; }
std::span<uint8_t> WritableVersionBuffer(size_t Len) {
if (Len > MRC_MAX_VERSION_SIZE) {
Len = MRC_MAX_VERSION_SIZE;
}
Version.resize(Len);
return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Version.data()),
Version.size()};
}
private:
std::string Name;
std::string Version;
};
} // namespace mrc

60
hal/src/mrc/include/mrc/NtNetComm.h Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// 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.
#pragma once
#define ROBOT_SYSTEM_SERVER_NT_PORT 6810
#define ROBOT_CONTROL_DATA_PREFIX "/Netcomm/Control/"
#define ROBOT_WATCHDOG_ACTIVE_PATH (ROBOT_CONTROL_DATA_PREFIX "WatchdogActive")
#define ROBOT_CONTROL_DATA_PATH (ROBOT_CONTROL_DATA_PREFIX "ControlData")
#define ROBOT_GAME_SPECIFIC_MESSAGE_PATH \
(ROBOT_CONTROL_DATA_PREFIX "GameSpecificMessage")
#define ROBOT_MATCH_INFO_PATH (ROBOT_CONTROL_DATA_PREFIX "MatchInfo")
#define ROBOT_JOYSTICK_DESCRIPTORS_PATH \
(ROBOT_CONTROL_DATA_PREFIX "JoystickDescriptors/")
#define ROBOT_STATUS_DATA_PREFIX "/Netcomm/Status/"
#define ROBOT_NEW_ROBOT_PROGRAM_PATH \
(ROBOT_STATUS_DATA_PREFIX "NewRobotProgram")
#define ROBOT_CODE_STARTED_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeStarted")
#define ROBOT_DISABLED_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeDisabled")
#define ROBOT_AUTON_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeAutonomous")
#define ROBOT_TELEOP_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTeleop")
#define ROBOT_TEST_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTest")
#define ROBOT_OUTPUTS_DATA_PREFIX "/Netcomm/Outputs/"
#define ROBOT_JOYSTICK_OUTPUTS_PATH (ROBOT_OUTPUTS_DATA_PREFIX "Joysticks/")
#define ROBOT_CONSOLE_DATA_PREFIX "/Netcomm/Console/"
#define ROBOT_CONSOLE_LINE_PATH (ROBOT_CONSOLE_DATA_PREFIX "ConsoleLine")
#define ROBOT_REPORTING_DATA_PREFIX "/Netcomm/Reporting/"
#define ROBOT_LIB_VERSION_PATH (ROBOT_REPORTING_DATA_PREFIX "LibVersion")
#define ROBOT_USER_REPORTING_PATH (ROBOT_REPORTING_DATA_PREFIX "User")
#define ROBOT_MODES_PREFIX "/Netcomm/Modes/"
#define ROBOT_AVAILABLE_OP_MODES_PATH (ROBOT_MODES_PREFIX "AvailableOpModes")
#define ROBOT_SYSTEM_SERVER_PREFIX "/sys/"
#define ROBOT_BATTERY_VOLTAGE_PATH (ROBOT_SYSTEM_SERVER_PREFIX "battery")
#define ROBOT_RAM_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ram")
#define ROBOT_RAM_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ramtotal")
#define ROBOT_STORAGE_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storage")
#define ROBOT_STORAGE_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storagetotal")
#define ROBOT_CPU_PATH (ROBOT_SYSTEM_SERVER_PREFIX "cpu")
#define ROBOT_CAN_BW_PATH (ROBOT_SYSTEM_SERVER_PREFIX "canbusban")
#define ROBOT_TEAM_PATH (ROBOT_SYSTEM_SERVER_PREFIX "team")
#define MRC_MAX_NUM_JOYSTICKS 6
#define MRC_MAX_NUM_AXES 12
#define MRC_MAX_NUM_POVS 12
#define MRC_MAX_NUM_BUTTONS 32
#define MRC_MAX_OPMODE_LEN 32
#define MRC_MAX_GAME_SPECIFIC_MESSAGE_LEN 128
#define MRC_MAX_EVENT_NAME_LEN 64
#define MRC_MAX_JOYSTICK_NAME_LEN 256
#define MRC_MAX_VERSION_SIZE 256

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syntax = "proto3";
package mrc.proto;
option java_package = "com.mrc.proto";
message ProtobufJoystickData {
uint32 ButtonCount = 1;
fixed32 Buttons = 2;
repeated float Axes = 3;
repeated sint32 POVs = 4;
}
message ProtobufControlData {
uint32 ControlWord = 1;
float MatchTime = 2;
repeated ProtobufJoystickData Joysticks = 3;
string OpMode = 4;
}
message ProtobufJoystickDescriptor {
string JoystickName = 1;
repeated int32 AxisTypes = 2;
bool IsXbox = 3;
int32 JoystickType = 4;
int32 ButtonCount = 5;
int32 PovCount = 6;
}
message ProtobufJoystickOutputData {
fixed32 HidOutputs = 1;
float LeftRumble = 2;
float RightRumble = 3;
}
message ProtobufVersionInfo {
fixed32 DeviceId = 1;
string Name = 2;
string Version = 3;
}
message ProtobufMatchInfo {
string EventName = 1;
int32 MatchNumber = 2;
int32 ReplayNumber = 3;
int32 MatchType = 4;
}