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[hal,wpilib] Add support for joystick outputs (#8385)

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Support joystick outputs, including Rumble and LEDs.

Also requires an update to Joystick descriptors, as that has also
changed in mrccomm to support showing what outputs are supported.
This commit is contained in:
Thad House
2025-11-17 14:36:14 -08:00
committed by GitHub
parent 5db6d2f500
commit ce6fd225a6
54 changed files with 1607 additions and 854 deletions
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42
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
View File

@@ -171,14 +171,28 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_getAllJoystickData
/*
* Class: org_wpilib_hardware_hal_DriverStationJNI
* Method: setJoystickOutputs
* Signature: (BIII)I
* Method: setJoystickRumble
* Signature: (BIIII)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_DriverStationJNI_setJoystickOutputs
(JNIEnv*, jclass, jbyte port, jint outputs, jint leftRumble, jint rightRumble)
Java_org_wpilib_hardware_hal_DriverStationJNI_setJoystickRumble
(JNIEnv*, jclass, jbyte port, jint leftRumble, jint rightRumble,
jint leftTriggerRumble, jint rightTriggerRumble)
{
return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
return HAL_SetJoystickRumble(port, leftRumble, rightRumble, leftTriggerRumble,
rightTriggerRumble);
}
/*
* Class: org_wpilib_hardware_hal_DriverStationJNI
* Method: setJoystickLeds
* Signature: (BI)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_DriverStationJNI_setJoystickLeds
(JNIEnv*, jclass, jbyte port, jint leds)
{
return HAL_SetJoystickLeds(port, leds);
}
/*
@@ -195,14 +209,26 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_getJoystickIsGamepad
/*
* Class: org_wpilib_hardware_hal_DriverStationJNI
* Method: getJoystickType
* Method: getJoystickSupportedOutputs
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_DriverStationJNI_getJoystickType
Java_org_wpilib_hardware_hal_DriverStationJNI_getJoystickSupportedOutputs
(JNIEnv*, jclass, jbyte port)
{
return HAL_GetJoystickType(port);
return HAL_GetJoystickSupportedOutputs(port);
}
/*
* Class: org_wpilib_hardware_hal_DriverStationJNI
* Method: getJoystickGamepadType
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_DriverStationJNI_getJoystickGamepadType
(JNIEnv*, jclass, jbyte port)
{
return HAL_GetJoystickGamepadType(port);
}
/*

53
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
View File

@@ -493,18 +493,16 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickButtons
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: getJoystickOutputs
* Signature: (I)J
* Method: getJoystickLeds
* Signature: (I)I
*/
JNIEXPORT jlong JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getJoystickOutputs
JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getJoystickLeds
(JNIEnv* env, jclass, jint stick)
{
int64_t outputs = 0;
int32_t leftRumble;
int32_t rightRumble;
HALSIM_GetJoystickOutputs(stick, &outputs, &leftRumble, &rightRumble);
return outputs;
int32_t leds = 0;
HALSIM_GetJoystickLeds(stick, &leds);
return leds;
}
/*
@@ -516,11 +514,24 @@ JNIEXPORT jint JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getJoystickRumble
(JNIEnv* env, jclass, jint stick, jint rumbleNum)
{
int64_t outputs;
int32_t leftRumble = 0;
int32_t rightRumble = 0;
HALSIM_GetJoystickOutputs(stick, &outputs, &leftRumble, &rightRumble);
return rumbleNum == 0 ? leftRumble : rightRumble;
int32_t leftTriggerRumble = 0;
int32_t rightTriggerRumble = 0;
HALSIM_GetJoystickRumbles(stick, &leftRumble, &rightRumble,
&leftTriggerRumble, &rightTriggerRumble);
switch (rumbleNum) {
case 0:
return leftRumble;
case 1:
return rightRumble;
case 2:
return leftTriggerRumble;
case 3:
return rightTriggerRumble;
default:
return 0;
}
}
/*
@@ -713,14 +724,26 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickIsGamepa
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: setJoystickType
* Method: setJoystickGamepadType
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickType
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickGamepadType
(JNIEnv*, jclass, jint stick, jint type)
{
HALSIM_SetJoystickType(stick, type);
HALSIM_SetJoystickGamepadType(stick, type);
}
/*
* Class: org_wpilib_hardware_hal_simulation_DriverStationDataJNI
* Method: setJoystickSupportedOutputs
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickSupportedOutputs
(JNIEnv*, jclass, jint stick, jint supportedOutputs)
{
HALSIM_SetJoystickSupportedOutputs(stick, supportedOutputs);
}
/*