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

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.

wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp

@@ -471,7 +471,7 @@ bool DriverStation::GetJoystickIsGamepad(int stick) {
   return static_cast<bool>(descriptor.isGamepad);
 }
 
-int DriverStation::GetJoystickType(int stick) {
+int DriverStation::GetJoystickGamepadType(int stick) {
   if (stick < 0 || stick >= kJoystickPorts) {
     WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return -1;
@@ -480,7 +480,19 @@ int DriverStation::GetJoystickType(int stick) {
   HAL_JoystickDescriptor descriptor;
   HAL_GetJoystickDescriptor(stick, &descriptor);
 
-  return static_cast<int>(descriptor.type);
+  return static_cast<int>(descriptor.gamepadType);
+}
+
+int DriverStation::GetJoystickSupportedOutputs(int stick) {
+  if (stick < 0 || stick >= kJoystickPorts) {
+    WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
+    return 0;
+  }
+
+  HAL_JoystickDescriptor descriptor;
+  HAL_GetJoystickDescriptor(stick, &descriptor);
+
+  return static_cast<int>(descriptor.supportedOutputs);
 }
 
 std::string DriverStation::GetJoystickName(int stick) {

wpilibc/src/main/native/cpp/driverstation/GenericHID.cpp

@@ -135,8 +135,13 @@ bool GenericHID::IsConnected() const {
   return DriverStation::IsJoystickConnected(m_port);
 }
 
-GenericHID::HIDType GenericHID::GetType() const {
-  return static_cast<HIDType>(DriverStation::GetJoystickType(m_port));
+GenericHID::HIDType GenericHID::GetGamepadType() const {
+  return static_cast<HIDType>(DriverStation::GetJoystickGamepadType(m_port));
+}
+
+GenericHID::SupportedOutputs GenericHID::GetSupportedOutputs() const {
+  return static_cast<SupportedOutputs>(
+      DriverStation::GetJoystickSupportedOutputs(m_port));
 }
 
 std::string GenericHID::GetName() const {
@@ -147,16 +152,11 @@ int GenericHID::GetPort() const {
   return m_port;
 }
 
-void GenericHID::SetOutput(int outputNumber, bool value) {
-  m_outputs =
-      (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
-
-  HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
-}
-
-void GenericHID::SetOutputs(int value) {
-  m_outputs = value;
-  HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+void GenericHID::SetLeds(int r, int g, int b) {
+  uint32_t value = (static_cast<uint32_t>(r & 0xFF) << 16) |
+                   (static_cast<uint32_t>(g & 0xFF) << 8) |
+                   static_cast<uint32_t>(b & 0xFF);
+  HAL_SetJoystickLeds(m_port, value);
 }
 
 void GenericHID::SetRumble(RumbleType type, double value) {
@@ -167,10 +167,12 @@ void GenericHID::SetRumble(RumbleType type, double value) {
     m_leftRumble = rumbleValue;
   } else if (type == kRightRumble) {
     m_rightRumble = rumbleValue;
-  } else {
-    m_leftRumble = rumbleValue;
-    m_rightRumble = rumbleValue;
+  } else if (type == kLeftTriggerRumble) {
+    m_leftTriggerRumble = rumbleValue;
+  } else if (type == kRightTriggerRumble) {
+    m_rightTriggerRumble = rumbleValue;
   }
 
-  HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
+  HAL_SetJoystickRumble(m_port, m_leftRumble, m_rightRumble,
+                        m_leftTriggerRumble, m_rightTriggerRumble);
 }

wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp

@@ -180,20 +180,31 @@ void DriverStationSim::SetSendConsoleLine(bool shouldSend) {
   }
 }
 
-int64_t DriverStationSim::GetJoystickOutputs(int stick) {
-  int64_t outputs = 0;
-  int32_t leftRumble;
-  int32_t rightRumble;
-  HALSIM_GetJoystickOutputs(stick, &outputs, &leftRumble, &rightRumble);
-  return outputs;
+int32_t DriverStationSim::GetJoystickLeds(int stick) {
+  int32_t leds = 0;
+  HALSIM_GetJoystickLeds(stick, &leds);
+  return leds;
 }
 
 int DriverStationSim::GetJoystickRumble(int stick, int 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;
+  }
 }
 
 void DriverStationSim::SetJoystickButton(int stick, int button, bool state) {
@@ -261,8 +272,13 @@ void DriverStationSim::SetJoystickIsGamepad(int stick, bool isGamepad) {
   HALSIM_SetJoystickIsGamepad(stick, isGamepad);
 }
 
-void DriverStationSim::SetJoystickType(int stick, int type) {
-  HALSIM_SetJoystickType(stick, type);
+void DriverStationSim::SetJoystickGamepadType(int stick, int type) {
+  HALSIM_SetJoystickGamepadType(stick, type);
+}
+
+void DriverStationSim::SetJoystickSupportedOutputs(int stick,
+                                                   int supportedOutputs) {
+  HALSIM_SetJoystickSupportedOutputs(stick, supportedOutputs);
 }
 
 void DriverStationSim::SetJoystickName(int stick, std::string_view name) {

wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp

@@ -60,25 +60,41 @@ void GenericHIDSim::SetButtonsAvailable(uint64_t count) {
   DriverStationSim::SetJoystickButtonsAvailable(m_port, count);
 }
 
-void GenericHIDSim::SetType(GenericHID::HIDType type) {
-  DriverStationSim::SetJoystickType(m_port, type);
+void GenericHIDSim::SetGamepadType(GenericHID::HIDType type) {
+  DriverStationSim::SetJoystickGamepadType(m_port, type);
+}
+
+void GenericHIDSim::SetSupportedOutputs(
+    GenericHID::SupportedOutputs supportedOutputs) {
+  DriverStationSim::SetJoystickSupportedOutputs(m_port, supportedOutputs);
 }
 
 void GenericHIDSim::SetName(const char* name) {
   DriverStationSim::SetJoystickName(m_port, name);
 }
 
-bool GenericHIDSim::GetOutput(int outputNumber) {
-  int64_t outputs = GetOutputs();
-  return (outputs & (static_cast<int64_t>(1) << (outputNumber - 1))) != 0;
-}
-
-int64_t GenericHIDSim::GetOutputs() {
-  return DriverStationSim::GetJoystickOutputs(m_port);
+int32_t GenericHIDSim::GetLeds() {
+  return DriverStationSim::GetJoystickLeds(m_port);
 }
 
 double GenericHIDSim::GetRumble(GenericHID::RumbleType type) {
-  int value = DriverStationSim::GetJoystickRumble(
-      m_port, type == GenericHID::kLeftRumble ? 0 : 1);
+  int intType = 0;
+  switch (type) {
+    case GenericHID::kLeftRumble:
+      intType = 0;
+      break;
+    case GenericHID::kRightRumble:
+      intType = 1;
+      break;
+    case GenericHID::kLeftTriggerRumble:
+      intType = 2;
+      break;
+    case GenericHID::kRightTriggerRumble:
+      intType = 3;
+      break;
+    default:
+      return 0.0;
+  }
+  int value = DriverStationSim::GetJoystickRumble(m_port, intType);
   return value / 65535.0;
 }