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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
Download Patch File Download Diff File Expand all files Collapse all files

28
simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
View File

@@ -261,7 +261,7 @@ void DSCommPacket::ReadJoystickDescriptionTag(std::span<const uint8_t> data) {
DSCommJoystickPacket& packet = m_joystick_packets[joystickNum];
packet.ResetTcp();
packet.descriptor.isGamepad = data[1] != 0 ? 1 : 0;
packet.descriptor.type = data[2];
packet.descriptor.gamepadType = data[2];
int nameLength =
std::min<size_t>(data[3], (sizeof(packet.descriptor.name) - 1));
for (int i = 0; i < nameLength; i++) {
@@ -283,7 +283,6 @@ void DSCommPacket::SendJoysticks(void) {
void DSCommPacket::SetupSendBuffer(wpi::net::raw_uv_ostream& buf) {
SetupSendHeader(buf);
SetupJoystickTag(buf);
}
void DSCommPacket::SetupSendHeader(wpi::net::raw_uv_ostream& buf) {
@@ -303,31 +302,6 @@ void DSCommPacket::SetupSendHeader(wpi::net::raw_uv_ostream& buf) {
buf << static_cast<uint8_t>(0);
}
void DSCommPacket::SetupJoystickTag(wpi::net::raw_uv_ostream& buf) {
static constexpr uint8_t kHIDTag = 0x01;
// HID tags are sent 1 per device
int64_t outputs;
int32_t rightRumble;
int32_t leftRumble;
for (size_t i = 0; i < m_joystick_packets.size(); i++) {
// Length is 9, 1 tag and 8 data.
buf << static_cast<uint8_t>(9) << kHIDTag;
HALSIM_GetJoystickOutputs(i, &outputs, &leftRumble, &rightRumble);
auto op = static_cast<uint32_t>(outputs);
auto rr = static_cast<uint16_t>(rightRumble);
auto lr = static_cast<uint16_t>(leftRumble);
buf.write((op >> 24 & 0xFF));
buf.write((op >> 16 & 0xFF));
buf.write((op >> 8 & 0xFF));
buf.write((op & 0xFF));
buf.write((rr >> 8 & 0xFF));
buf.write((rr & 0xFF));
buf.write((lr >> 8 & 0xFF));
buf.write((lr & 0xFF));
}
}
void DSCommPacket::SendUDPToHALSim(void) {
SendJoysticks();

1
simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
View File

@@ -52,7 +52,6 @@ class DSCommPacket {
void SetControl(uint8_t control, uint8_t request);
void SetAlliance(uint8_t station_code);
void SetupSendHeader(wpi::net::raw_uv_ostream& buf);
void SetupJoystickTag(wpi::net::raw_uv_ostream& buf);
void ReadMatchtimeTag(std::span<const uint8_t> tagData);
void ReadJoystickTag(std::span<const uint8_t> data, int index);
void ReadNewMatchInfoTag(std::span<const uint8_t> data);