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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
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@@ -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);
}
/*