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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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96
hal/src/main/native/systemcore/FRCDriverStation.cpp
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@@ -22,8 +22,8 @@
#include "wpi/hal/Errors.h"
#include "wpi/hal/proto/ControlData.h"
#include "wpi/hal/proto/ErrorInfo.h"
#include "wpi/hal/proto/JoystickDescriptor.h"
#include "wpi/hal/proto/JoystickRumbleData.h"
#include "wpi/hal/proto/JoystickDescriptors.h"
#include "wpi/hal/proto/JoystickOutput.h"
#include "wpi/hal/proto/MatchInfo.h"
#include "wpi/hal/proto/OpMode.h"
#include "wpi/nt/BooleanTopic.hpp"
@@ -72,17 +72,16 @@ struct SystemServerDriverStation {
wpi::nt::ProtobufSubscriber<mrc::MatchInfo> matchInfoSubscriber;
wpi::nt::StringSubscriber gameSpecificMessageSubscriber;
std::array<wpi::nt::ProtobufSubscriber<mrc::JoystickDescriptor>,
MRC_MAX_NUM_JOYSTICKS>
joystickDescriptorTopics;
wpi::nt::ProtobufSubscriber<mrc::JoystickDescriptors>
joystickDescriptorsTopic;
wpi::nt::StringPublisher versionPublisher;
wpi::nt::StringPublisher consoleLinePublisher;
wpi::nt::ProtobufPublisher<mrc::ErrorInfo> errorInfoPublisher;
std::array<wpi::nt::ProtobufPublisher<mrc::JoystickRumbleData>,
std::array<wpi::nt::ProtobufPublisher<mrc::JoystickOutput>,
MRC_MAX_NUM_JOYSTICKS>
joystickRumbleTopics;
joystickOutputTopics;
wpi::nt::ProtobufPublisher<std::vector<mrc::OpMode>> teleopOpModes;
wpi::nt::ProtobufPublisher<std::vector<mrc::OpMode>> autoOpModes;
@@ -95,6 +94,9 @@ struct SystemServerDriverStation {
wpi::util::ProtobufMessage<mrc::ControlData> controlDataMsg;
wpi::nt::Value lastValue;
wpi::util::mutex joystickOutputMutexes[MRC_MAX_NUM_JOYSTICKS];
mrc::JoystickOutput joystickOutputs[MRC_MAX_NUM_JOYSTICKS];
explicit SystemServerDriverStation(wpi::nt::NetworkTableInstance inst) {
ntInst = inst;
@@ -106,12 +108,11 @@ struct SystemServerDriverStation {
hasUserCodeReadyPublisher =
ntInst.GetBooleanTopic(ROBOT_HAS_USER_CODE_READY_PATH).Publish(options);
for (size_t count = 0; count < joystickRumbleTopics.size(); count++) {
std::string name = ROBOT_JOYSTICK_RUMBLE_PATH;
for (size_t count = 0; count < joystickOutputTopics.size(); count++) {
std::string name = ROBOT_JOYSTICK_OUTPUTS_PATH;
name += std::to_string(count);
joystickRumbleTopics[count] =
ntInst.GetProtobufTopic<mrc::JoystickRumbleData>(name).Publish(
options);
joystickOutputTopics[count] =
ntInst.GetProtobufTopic<mrc::JoystickOutput>(name).Publish(options);
}
hasUserCodePublisher =
@@ -142,12 +143,10 @@ struct SystemServerDriverStation {
gameSpecificMessageSubscriber =
ntInst.GetStringTopic(ROBOT_GAME_SPECIFIC_MESSAGE_PATH).Subscribe({});
for (size_t count = 0; count < joystickDescriptorTopics.size(); count++) {
std::string name = ROBOT_JOYSTICK_DESCRIPTORS_PATH;
name += std::to_string(count);
joystickDescriptorTopics[count] =
ntInst.GetProtobufTopic<mrc::JoystickDescriptor>(name).Subscribe({});
}
joystickDescriptorsTopic = ntInst
.GetProtobufTopic<mrc::JoystickDescriptors>(
ROBOT_JOYSTICK_DESCRIPTORS_PATH)
.Subscribe({});
teleopOpModes = ntInst
.GetProtobufTopic<std::vector<mrc::OpMode>>(
@@ -333,14 +332,17 @@ void TcpCache::Update() {
}
matchInfo.gameSpecificMessageSize = gameDataLen;
for (size_t count = 0;
count < systemServerDs->joystickDescriptorTopics.size(); count++) {
auto newDesc = systemServerDs->joystickDescriptorTopics[count].Get();
const auto descriptorsMsg = systemServerDs->joystickDescriptorsTopic.Get();
size_t descriptorCount = descriptorsMsg.GetDescriptorCount();
for (size_t count = 0; count < descriptorCount; count++) {
const auto& newDesc = descriptorsMsg.Descriptors()[count];
auto& desc = descriptors[count];
desc.isGamepad = newDesc.IsGamepad;
desc.type = newDesc.Type;
desc.supportedOutputs = newDesc.SupportedOutputs;
desc.gamepadType = newDesc.GamepadType;
auto joystickName = newDesc.GetName();
auto joystickNameLen =
@@ -519,12 +521,21 @@ HAL_Bool HAL_GetJoystickIsGamepad(int32_t joystickNum) {
}
}
int32_t HAL_GetJoystickType(int32_t joystickNum) {
int32_t HAL_GetJoystickGamepadType(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
return -1;
} else {
return joystickDesc.type;
return joystickDesc.gamepadType;
}
}
int32_t HAL_GetJoystickSupportedOutputs(int32_t joystickNum) {
HAL_JoystickDescriptor joystickDesc;
if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
return -1;
} else {
return joystickDesc.supportedOutputs;
}
}
@@ -539,22 +550,37 @@ void HAL_GetJoystickName(struct WPI_String* name, int32_t joystickNum) {
std::memcpy(write, cName, len);
}
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble) {
int32_t HAL_SetJoystickRumble(int32_t joystickNum, int32_t leftRumble,
int32_t rightRumble, int32_t leftTriggerRumble,
int32_t rightTriggerRumble) {
CHECK_JOYSTICK_NUMBER(joystickNum);
// TODO Update this API
std::scoped_lock lock{systemServerDs->joystickOutputMutexes[joystickNum]};
systemServerDs->joystickOutputs[joystickNum].LeftRumble =
std::clamp(leftRumble, 0, UINT16_MAX);
systemServerDs->joystickOutputs[joystickNum].RightRumble =
std::clamp(rightRumble, 0, UINT16_MAX);
systemServerDs->joystickOutputs[joystickNum].LeftTriggerRumble =
std::clamp(leftTriggerRumble, 0, UINT16_MAX);
systemServerDs->joystickOutputs[joystickNum].RightTriggerRumble =
std::clamp(rightTriggerRumble, 0, UINT16_MAX);
// mrc::JoystickOutputData outputData{
// .HidOutputs = static_cast<uint32_t>(outputs),
// .LeftRumble = std::clamp(leftRumble, 0, UINT16_MAX) /
// static_cast<float>(UINT16_MAX),
// .RightRumble = std::clamp(rightRumble, 0, UINT16_MAX) /
// static_cast<float>(UINT16_MAX),
// };
systemServerDs->joystickOutputTopics[joystickNum].Set(
systemServerDs->joystickOutputs[joystickNum]);
// systemServerDs->joystickRumbleTopics[joystickNum].Set(outputData);
return 0;
}
int32_t HAL_SetJoystickLeds(int32_t joystickNum, int32_t leds) {
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{systemServerDs->joystickOutputMutexes[joystickNum]};
systemServerDs->joystickOutputs[joystickNum].R = (leds >> 16) & 0xFF;
systemServerDs->joystickOutputs[joystickNum].G = (leds >> 8) & 0xFF;
systemServerDs->joystickOutputs[joystickNum].B = leds & 0xFF;
systemServerDs->joystickOutputTopics[joystickNum].Set(
systemServerDs->joystickOutputs[joystickNum]);
return 0;
}