mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-04 03:11:43 +00:00
[hal] Add initial SystemServer support (#7463)
This commit is contained in:
Thad House
308
hal/src/mrc/include/mrc/NetComm.h
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308
hal/src/mrc/include/mrc/NetComm.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include <array>
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#include <span>
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#include <string>
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#include <string_view>
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#include <utility>
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#include "mrc/NtNetComm.h"
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namespace mrc {
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struct ControlFlags {
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uint32_t Enabled : 1;
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uint32_t ModeReserved : 2;
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uint32_t EStop : 1;
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uint32_t FmsConnected : 1;
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uint32_t DsConnected : 1;
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uint32_t WatchdogActive : 1;
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uint32_t Alliance : 6;
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uint32_t Reserved : 19;
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};
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struct JoystickAxes {
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public:
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std::span<float> Axes() { return std::span{AxesStore.data(), GetCount()}; }
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std::span<const float> Axes() const {
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return std::span{AxesStore.data(), GetCount()};
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}
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void SetCount(uint8_t NewCount) {
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Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
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}
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size_t GetCount() const { return Count; }
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private:
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std::array<float, MRC_MAX_NUM_AXES> AxesStore;
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uint8_t Count{0};
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};
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struct JoystickPovs {
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public:
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std::span<int16_t> Povs() { return std::span{PovsStore.data(), GetCount()}; }
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std::span<const int16_t> Povs() const {
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return std::span{PovsStore.data(), GetCount()};
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}
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void SetCount(uint8_t NewCount) {
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Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
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}
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size_t GetCount() const { return Count; }
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private:
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std::array<int16_t, MRC_MAX_NUM_POVS> PovsStore;
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uint8_t Count{0};
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};
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struct JoystickButtons {
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uint32_t Buttons;
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void SetCount(uint8_t NewCount) {
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Count = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
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}
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size_t GetCount() const { return Count; }
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private:
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uint8_t Count{0};
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};
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struct Joystick {
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JoystickAxes Axes;
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JoystickPovs Povs;
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JoystickButtons Buttons;
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};
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struct ControlData {
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ControlFlags ControlWord;
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float MatchTime;
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std::span<Joystick> Joysticks() {
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return std::span{JoysticksStore.data(), GetJoystickCount()};
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}
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std::span<const Joystick> Joysticks() const {
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return std::span{JoysticksStore.data(), GetJoystickCount()};
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}
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size_t GetJoystickCount() const { return JoystickCount; }
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void SetJoystickCount(uint8_t NewCount) {
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JoystickCount =
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(std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_JOYSTICKS));
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}
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void SetOpMode(std::string_view Mode) {
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if (Mode.size() > MRC_MAX_OPMODE_LEN) {
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Mode = Mode.substr(0, MRC_MAX_OPMODE_LEN);
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}
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OpMode = Mode;
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}
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void MoveOpMode(std::string&& Mode) {
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OpMode = std::move(Mode);
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if (OpMode.size() > MRC_MAX_OPMODE_LEN) {
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OpMode.resize(MRC_MAX_OPMODE_LEN);
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}
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}
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std::string_view GetOpMode() const { return OpMode; }
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std::span<uint8_t> WritableOpModeBuffer(size_t Len) {
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if (Len > MRC_MAX_OPMODE_LEN) {
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Len = MRC_MAX_OPMODE_LEN;
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}
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OpMode.resize(Len);
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return std::span<uint8_t>{reinterpret_cast<uint8_t*>(OpMode.data()),
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OpMode.size()};
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}
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private:
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std::array<Joystick, MRC_MAX_NUM_JOYSTICKS> JoysticksStore;
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uint8_t JoystickCount{0};
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std::string OpMode;
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};
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struct JoystickOutputData {
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uint32_t HidOutputs{0};
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float LeftRumble{0};
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float RightRumble{0};
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};
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enum class MatchType : uint8_t {
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None = 0,
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Practice = 1,
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Qualification = 2,
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Playoff = 3,
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Test = 4,
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};
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struct MatchInfo {
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uint16_t MatchNumber{0};
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uint8_t ReplayNumber{0};
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MatchType Type{MatchType::None};
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void SetEventName(std::string_view Name) {
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if (Name.size() > MRC_MAX_EVENT_NAME_LEN) {
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Name = Name.substr(0, MRC_MAX_EVENT_NAME_LEN);
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}
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EventName = Name;
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}
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void MoveEventName(std::string&& Name) {
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EventName = std::move(Name);
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if (EventName.size() > MRC_MAX_EVENT_NAME_LEN) {
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EventName.resize(MRC_MAX_EVENT_NAME_LEN);
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}
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}
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std::string_view GetEventName() const { return EventName; }
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std::span<uint8_t> WritableNameBuffer(size_t Len) {
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if (Len > MRC_MAX_EVENT_NAME_LEN) {
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Len = MRC_MAX_EVENT_NAME_LEN;
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}
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EventName.resize(Len);
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return std::span<uint8_t>{reinterpret_cast<uint8_t*>(EventName.data()),
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EventName.size()};
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}
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private:
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std::string EventName;
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};
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struct JoystickDescriptor {
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public:
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bool IsXbox{0};
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uint8_t Type{0};
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std::span<uint8_t> AxesTypes() {
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return std::span{AxesTypesStore.data(), GetAxesCount()};
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}
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std::span<const uint8_t> AxesTypes() const {
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return std::span{AxesTypesStore.data(), GetAxesCount()};
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}
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void SetAxesCount(uint8_t NewCount) {
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AxesCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_AXES));
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}
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size_t GetAxesCount() const { return AxesCount; }
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void SetPovsCount(uint8_t NewCount) {
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PovCount = (std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_POVS));
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}
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size_t GetPovsCount() const { return PovCount; }
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void SetButtonsCount(uint8_t NewCount) {
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ButtonCount =
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(std::min)(NewCount, static_cast<uint8_t>(MRC_MAX_NUM_BUTTONS));
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}
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size_t GetButtonsCount() const { return ButtonCount; }
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void SetName(std::string_view Name) {
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if (Name.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
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Name = Name.substr(0, MRC_MAX_JOYSTICK_NAME_LEN);
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}
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JoystickName = Name;
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}
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void MoveName(std::string&& Name) {
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JoystickName = std::move(Name);
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if (JoystickName.size() > MRC_MAX_JOYSTICK_NAME_LEN) {
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JoystickName.resize(MRC_MAX_JOYSTICK_NAME_LEN);
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}
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}
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std::string_view GetName() const { return JoystickName; }
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std::span<uint8_t> WritableNameBuffer(size_t Len) {
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if (Len > MRC_MAX_JOYSTICK_NAME_LEN) {
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Len = MRC_MAX_JOYSTICK_NAME_LEN;
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}
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JoystickName.resize(Len);
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return std::span<uint8_t>{reinterpret_cast<uint8_t*>(JoystickName.data()),
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JoystickName.size()};
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}
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private:
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std::string JoystickName;
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std::array<uint8_t, MRC_MAX_NUM_AXES> AxesTypesStore;
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uint8_t AxesCount{0};
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uint8_t ButtonCount{0};
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uint8_t PovCount{0};
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};
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struct VersionInfo {
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uint32_t DeviceId{0};
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void SetName(std::string_view NewName) {
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if (NewName.size() > MRC_MAX_VERSION_SIZE) {
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NewName = NewName.substr(0, MRC_MAX_VERSION_SIZE);
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}
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Name = NewName;
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}
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void MoveName(std::string&& NewName) {
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Name = std::move(NewName);
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if (Name.size() > MRC_MAX_VERSION_SIZE) {
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Name.resize(MRC_MAX_VERSION_SIZE);
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}
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}
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std::string_view GetName() const { return Name; }
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std::span<uint8_t> WritableNameBuffer(size_t Len) {
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if (Len > MRC_MAX_VERSION_SIZE) {
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Len = MRC_MAX_VERSION_SIZE;
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}
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Name.resize(Len);
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return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Name.data()),
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Name.size()};
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}
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void SetVersion(std::string_view NewVersion) {
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if (NewVersion.size() > MRC_MAX_VERSION_SIZE) {
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NewVersion = NewVersion.substr(0, MRC_MAX_VERSION_SIZE);
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}
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Version = NewVersion;
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}
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void MoveVersion(std::string&& NewVersion) {
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Version = std::move(NewVersion);
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if (Version.size() > MRC_MAX_VERSION_SIZE) {
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Version.resize(MRC_MAX_VERSION_SIZE);
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}
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}
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std::string_view GetVersion() const { return Version; }
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std::span<uint8_t> WritableVersionBuffer(size_t Len) {
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if (Len > MRC_MAX_VERSION_SIZE) {
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Len = MRC_MAX_VERSION_SIZE;
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}
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Version.resize(Len);
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return std::span<uint8_t>{reinterpret_cast<uint8_t*>(Version.data()),
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Version.size()};
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}
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private:
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std::string Name;
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std::string Version;
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};
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} // namespace mrc
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60
hal/src/mrc/include/mrc/NtNetComm.h
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60
hal/src/mrc/include/mrc/NtNetComm.h
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@@ -0,0 +1,60 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#define ROBOT_SYSTEM_SERVER_NT_PORT 6810
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#define ROBOT_CONTROL_DATA_PREFIX "/Netcomm/Control/"
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#define ROBOT_WATCHDOG_ACTIVE_PATH (ROBOT_CONTROL_DATA_PREFIX "WatchdogActive")
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#define ROBOT_CONTROL_DATA_PATH (ROBOT_CONTROL_DATA_PREFIX "ControlData")
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#define ROBOT_GAME_SPECIFIC_MESSAGE_PATH \
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(ROBOT_CONTROL_DATA_PREFIX "GameSpecificMessage")
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#define ROBOT_MATCH_INFO_PATH (ROBOT_CONTROL_DATA_PREFIX "MatchInfo")
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#define ROBOT_JOYSTICK_DESCRIPTORS_PATH \
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(ROBOT_CONTROL_DATA_PREFIX "JoystickDescriptors/")
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#define ROBOT_STATUS_DATA_PREFIX "/Netcomm/Status/"
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#define ROBOT_NEW_ROBOT_PROGRAM_PATH \
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(ROBOT_STATUS_DATA_PREFIX "NewRobotProgram")
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#define ROBOT_CODE_STARTED_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeStarted")
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#define ROBOT_DISABLED_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeDisabled")
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#define ROBOT_AUTON_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeAutonomous")
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#define ROBOT_TELEOP_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTeleop")
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#define ROBOT_TEST_TRACE_PATH (ROBOT_STATUS_DATA_PREFIX "UserCodeTest")
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#define ROBOT_OUTPUTS_DATA_PREFIX "/Netcomm/Outputs/"
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#define ROBOT_JOYSTICK_OUTPUTS_PATH (ROBOT_OUTPUTS_DATA_PREFIX "Joysticks/")
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#define ROBOT_CONSOLE_DATA_PREFIX "/Netcomm/Console/"
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#define ROBOT_CONSOLE_LINE_PATH (ROBOT_CONSOLE_DATA_PREFIX "ConsoleLine")
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#define ROBOT_REPORTING_DATA_PREFIX "/Netcomm/Reporting/"
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#define ROBOT_LIB_VERSION_PATH (ROBOT_REPORTING_DATA_PREFIX "LibVersion")
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#define ROBOT_USER_REPORTING_PATH (ROBOT_REPORTING_DATA_PREFIX "User")
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#define ROBOT_MODES_PREFIX "/Netcomm/Modes/"
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#define ROBOT_AVAILABLE_OP_MODES_PATH (ROBOT_MODES_PREFIX "AvailableOpModes")
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#define ROBOT_SYSTEM_SERVER_PREFIX "/sys/"
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#define ROBOT_BATTERY_VOLTAGE_PATH (ROBOT_SYSTEM_SERVER_PREFIX "battery")
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#define ROBOT_RAM_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ram")
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#define ROBOT_RAM_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "ramtotal")
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#define ROBOT_STORAGE_USED_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storage")
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#define ROBOT_STORAGE_BYTES_PATH (ROBOT_SYSTEM_SERVER_PREFIX "storagetotal")
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#define ROBOT_CPU_PATH (ROBOT_SYSTEM_SERVER_PREFIX "cpu")
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#define ROBOT_CAN_BW_PATH (ROBOT_SYSTEM_SERVER_PREFIX "canbusban")
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#define ROBOT_TEAM_PATH (ROBOT_SYSTEM_SERVER_PREFIX "team")
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#define MRC_MAX_NUM_JOYSTICKS 6
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#define MRC_MAX_NUM_AXES 12
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#define MRC_MAX_NUM_POVS 12
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#define MRC_MAX_NUM_BUTTONS 32
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#define MRC_MAX_OPMODE_LEN 32
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#define MRC_MAX_GAME_SPECIFIC_MESSAGE_LEN 128
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#define MRC_MAX_EVENT_NAME_LEN 64
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#define MRC_MAX_JOYSTICK_NAME_LEN 256
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#define MRC_MAX_VERSION_SIZE 256
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47
hal/src/mrc/proto/MrcComm.proto
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47
hal/src/mrc/proto/MrcComm.proto
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@@ -0,0 +1,47 @@
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syntax = "proto3";
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package mrc.proto;
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option java_package = "com.mrc.proto";
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message ProtobufJoystickData {
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uint32 ButtonCount = 1;
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fixed32 Buttons = 2;
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repeated float Axes = 3;
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repeated sint32 POVs = 4;
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}
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message ProtobufControlData {
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uint32 ControlWord = 1;
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float MatchTime = 2;
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repeated ProtobufJoystickData Joysticks = 3;
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string OpMode = 4;
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}
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message ProtobufJoystickDescriptor {
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string JoystickName = 1;
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repeated int32 AxisTypes = 2;
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bool IsXbox = 3;
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int32 JoystickType = 4;
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int32 ButtonCount = 5;
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int32 PovCount = 6;
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}
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message ProtobufJoystickOutputData {
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fixed32 HidOutputs = 1;
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float LeftRumble = 2;
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float RightRumble = 3;
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}
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message ProtobufVersionInfo {
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fixed32 DeviceId = 1;
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string Name = 2;
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string Version = 3;
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}
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message ProtobufMatchInfo {
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string EventName = 1;
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int32 MatchNumber = 2;
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int32 ReplayNumber = 3;
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int32 MatchType = 4;
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}
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