[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/include/wpi/driverstation/DriverStation.hpp

@@ -245,10 +245,21 @@ class DriverStation final {
   /**
    * Returns the type of joystick at a given port.
    *
+   * This maps to SDL_GamepadType
+   *
    * @param stick The joystick port number
    * @return The HID type of joystick at the given port
    */
-  static int GetJoystickType(int stick);
+  static int GetJoystickGamepadType(int stick);
+
+  /**
+   * Returns the number of outputs supported by the joystick at the given
+   * port.
+   *
+   * @param stick The joystick port number
+   * @return The number of outputs supported by the joystick at the given port
+   */
+  static int GetJoystickSupportedOutputs(int stick);
 
   /**
    * Returns the name of the joystick at the given port.

wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp

@@ -33,8 +33,28 @@ class GenericHID {
     kLeftRumble,
     /// Right rumble motor.
     kRightRumble,
-    /// Both left and right rumble motors.
-    kBothRumble
+    /// Left trigger rumble motor.
+    kLeftTriggerRumble,
+    /// Right trigger rumble motor.
+    kRightTriggerRumble,
+  };
+
+  /**
+   * Represents the various outputs that a HID may support.
+   */
+  enum SupportedOutputs {
+    /// No outputs supported.
+    kNone = 0x0,
+    /// Mono LED support.
+    kMonoLed = 0x1,
+    /// RGB LED support.
+    kRgbLed = 0x2,
+    /// Player LED support.
+    kPlayerLed = 0x4,
+    /// Rumble support.
+    kRumble = 0x8,
+    /// Trigger rumble support.
+    kTriggerRumble = 0x10,
   };
 
   /**
@@ -42,39 +62,27 @@ class GenericHID {
    */
   enum HIDType {
     /// Unknown.
-    kUnknown = -1,
-    /// XInputUnknown.
-    kXInputUnknown = 0,
-    /// XInputGamepad.
-    kXInputGamepad = 1,
-    /// XInputWheel.
-    kXInputWheel = 2,
-    /// XInputArcadeStick.
-    kXInputArcadeStick = 3,
-    /// XInputFlightStick.
-    kXInputFlightStick = 4,
-    /// XInputDancePad.
-    kXInputDancePad = 5,
-    /// XInputGuitar.
-    kXInputGuitar = 6,
-    /// XInputGuitar2.
-    kXInputGuitar2 = 7,
-    /// XInputDrumKit.
-    kXInputDrumKit = 8,
-    /// XInputGuitar3.
-    kXInputGuitar3 = 11,
-    /// XInputArcadePad.
-    kXInputArcadePad = 19,
-    /// HIDJoystick.
-    kHIDJoystick = 20,
-    /// HIDGamepad.
-    kHIDGamepad = 21,
-    /// HIDDriving.
-    kHIDDriving = 22,
-    /// HIDFlight.
-    kHIDFlight = 23,
-    /// HID1stPerson.
-    kHID1stPerson = 24
+    kUnknown = 0,
+    /// Standard HID device.
+    kStandard,
+    /// Xbox 360 controller.
+    kXbox360,
+    /// Xbox One controller.
+    kXboxOne,
+    /// PS3 controller.
+    kPS3,
+    /// PS4 controller.
+    kPS4,
+    /// PS5 controller.
+    kPS5,
+    /// Nintendo Switch Pro controller.
+    kSwitchPro,
+    /// Nintendo Switch Joycon Left controller.
+    kSwitchJoyconLeft,
+    /// Nintendo Switch Joycon Right controller.
+    kSwitchJoyconRight,
+    /// Nintendo Switch Joycon controller pair.
+    kSwitchJoyconPair
   };
 
   explicit GenericHID(int port);
@@ -319,7 +327,14 @@ class GenericHID {
    *
    * @return the type of the HID.
    */
-  GenericHID::HIDType GetType() const;
+  GenericHID::HIDType GetGamepadType() const;
+
+  /**
+   * Get the supported outputs of the HID.
+   *
+   * @return the supported outputs of the HID.
+   */
+  GenericHID::SupportedOutputs GetSupportedOutputs() const;
 
   /**
    * Get the name of the HID.
@@ -336,19 +351,14 @@ class GenericHID {
   int GetPort() const;
 
   /**
-   * Set a single HID output value for the HID.
+   * Set leds on the controller. If only mono is supported, the system will use
+   * the highest value passed in.
    *
-   * @param outputNumber The index of the output to set (1-32)
-   * @param value        The value to set the output to
+   * @param r Red value from 0-255
+   * @param g Green value from 0-255
+   * @param b Blue value from 0-255
    */
-  void SetOutput(int outputNumber, bool value);
-
-  /**
-   * Set all output values for the HID.
-   *
-   * @param value The 32 bit output value (1 bit for each output)
-   */
-  void SetOutputs(int value);
+  void SetLeds(int r, int g, int b);
 
   /**
    * Set the rumble output for the HID.
@@ -362,9 +372,10 @@ class GenericHID {
 
  private:
   int m_port;
-  int m_outputs = 0;
   uint16_t m_leftRumble = 0;
   uint16_t m_rightRumble = 0;
+  uint16_t m_leftTriggerRumble = 0;
+  uint16_t m_rightTriggerRumble = 0;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp

@@ -251,13 +251,14 @@ class DriverStationSim {
    * @param stick The joystick number
    * @return The joystick outputs
    */
-  static int64_t GetJoystickOutputs(int stick);
+  static int32_t GetJoystickLeds(int stick);
 
   /**
    * Gets the joystick rumble.
    *
    * @param stick The joystick number
-   * @param rumbleNum Rumble to get (0=left, 1=right)
+   * @param rumbleNum Rumble to get (0=left, 1=right, 2=left trigger, 3=right
+   * trigger)
    * @return The joystick rumble value
    */
   static int GetJoystickRumble(int stick, int rumbleNum);
@@ -346,7 +347,7 @@ class DriverStationSim {
    * @param stick The joystick number
    * @param type The value of type
    */
-  static void SetJoystickType(int stick, int type);
+  static void SetJoystickGamepadType(int stick, int type);
 
   /**
    * Sets the name of a joystick.
@@ -356,6 +357,14 @@ class DriverStationSim {
    */
   static void SetJoystickName(int stick, std::string_view name);
 
+  /**
+   * Sets the supported outputs for a joystick.
+   *
+   * @param stick The joystick number
+   * @param supportedOutputs The supported outputs for the joystick
+   */
+  static void SetJoystickSupportedOutputs(int stick, int supportedOutputs);
+
   /**
    * Sets the game specific message.
    *

wpilibc/src/main/native/include/wpi/simulation/GenericHIDSim.hpp

@@ -102,7 +102,9 @@ class GenericHIDSim {
    *
    * @param type the new device type
    */
-  void SetType(GenericHID::HIDType type);
+  void SetGamepadType(GenericHID::HIDType type);
+
+  void SetSupportedOutputs(GenericHID::SupportedOutputs supportedOutputs);
 
   /**
    * Set the name of this device.
@@ -112,19 +114,11 @@ class GenericHIDSim {
   void SetName(const char* name);
 
   /**
-   * Read the output of a button.
+   * Get the value of set LEDs.
    *
-   * @param outputNumber the button number
-   * @return the value of the button (true = pressed)
+   * @return the led color
    */
-  bool GetOutput(int outputNumber);
-
-  /**
-   * Get the encoded 16-bit integer that passes button values.
-   *
-   * @return the button values
-   */
-  int64_t GetOutputs();
+  int32_t GetLeds();
 
   /**
    * Get the joystick rumble.