[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.
2026-06-22 01:11:42 +00:00 · 2025-11-17 14:36:14 -08:00
parent 5db6d2f500
commit ce6fd225a6
54 changed files with 1607 additions and 854 deletions
--- a/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
+++ b/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
@@ -977,17 +977,31 @@ public final class DriverStation {
  }

  /**
-   * Gets the value of type on a joystick.
+   * Gets the value of type on a gamepad.
   *
   * @param stick The joystick port number
   * @return The value of type
   */
-  public static int getJoystickType(int stick) {
+  public static int getJoystickGamepadType(int stick) {
    if (stick < 0 || stick >= kJoystickPorts) {
      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
    }

-    return DriverStationJNI.getJoystickType((byte) stick);
+    return DriverStationJNI.getJoystickGamepadType((byte) stick);
+  }
+
+  /**
+   * Gets the value of supported outputs on a joystick.
+   *
+   * @param stick The joystick port number
+   * @return The value of supported outputs
+   */
+  public static int getJoystickSupportedOutputs(int stick) {
+    if (stick < 0 || stick >= kJoystickPorts) {
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
+    }
+
+    return DriverStationJNI.getJoystickSupportedOutputs((byte) stick);
  }

  /**
--- a/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
+++ b/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
@@ -26,46 +26,36 @@ public class GenericHID {
    kLeftRumble,
    /** Right rumble motor. */
    kRightRumble,
-    /** Both left and right rumble motors. */
-    kBothRumble
+    /** Left trigger rumble motor. */
+    kLeftTriggerRumble,
+    /** Right trigger rumble motor. */
+    kRightTriggerRumble,
  }

  /** USB HID interface type. */
  public 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. */
+    kStandard(1),
+    /** Xbox 360. */
+    kXbox360(2),
+    /** Xbox One. */
+    kXboxOne(3),
+    /** PS3. */
+    kPS3(4),
+    /** PS4. */
+    kPS4(5),
+    /** PS5. */
+    kPS5(6),
+    /** Switch Pro. */
+    kSwitchPro(7),
+    /** Switch Joycon Left. */
+    kSwitchJoyconLeft(8),
+    /** Switch Joycon Right. */
+    kSwitchJoyconRight(9),
+    /** Switch Joycon Pair. */
+    kSwitchJoyconPair(10);

    /** HIDType value. */
    public final int value;
@@ -94,9 +84,10 @@ public class GenericHID {
  }

  private final int m_port;
-  private int m_outputs;
  private int m_leftRumble;
  private int m_rightRumble;
+  private int m_leftTriggerRumble;
+  private int m_rightTriggerRumble;
  private final Map<EventLoop, Map<Integer, BooleanEvent>> m_buttonCache = new HashMap<>();
  private final Map<EventLoop, Map<Pair<Integer, Double>, BooleanEvent>> m_axisLessThanCache =
      new HashMap<>();
@@ -432,8 +423,17 @@ public class GenericHID {
   *
   * @return the type of the HID.
   */
-  public HIDType getType() {
-    return HIDType.of(DriverStation.getJoystickType(m_port));
+  public HIDType getGamepadType() {
+    return HIDType.of(DriverStation.getJoystickGamepadType(m_port));
+  }
+
+  /**
+   * Get the supported outputs for the HID.
+   *
+   * @return the supported outputs for the HID.
+   */
+  public int getSupportedOutputs() {
+    return DriverStation.getJoystickSupportedOutputs(m_port);
  }

  /**
@@ -455,24 +455,16 @@ public class GenericHID {
  }

  /**
-   * 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
   */
-  public void setOutput(int outputNumber, boolean value) {
-    m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    DriverStationJNI.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
-  }
-
-  /**
-   * Set all HID output values for the HID.
-   *
-   * @param value The 32 bit output value (1 bit for each output)
-   */
-  public void setOutputs(int value) {
-    m_outputs = value;
-    DriverStationJNI.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
+  public void setLeds(int r, int g, int b) {
+    int value = ((r & 0xFF) << 16) | ((g & 0xFF) << 8) | (b & 0xFF);
+    DriverStationJNI.setJoystickLeds((byte) m_port, value);
  }

  /**
@@ -486,15 +478,27 @@ public class GenericHID {
    value = Math.clamp(value, 0, 1);
    int rumbleValue = (int) (value * 65535);
    switch (type) {
-      case kLeftRumble -> this.m_leftRumble = rumbleValue;
-      case kRightRumble -> this.m_rightRumble = rumbleValue;
-      default -> {
+      case kLeftRumble:
        this.m_leftRumble = rumbleValue;
+        break;
+      case kRightRumble:
        this.m_rightRumble = rumbleValue;
-      }
+        break;
+      case kLeftTriggerRumble:
+        this.m_leftTriggerRumble = rumbleValue;
+        break;
+      case kRightTriggerRumble:
+        this.m_rightTriggerRumble = rumbleValue;
+        break;
+      default:
+        break;
    }

-    DriverStationJNI.setJoystickOutputs(
-        (byte) this.m_port, this.m_outputs, this.m_leftRumble, this.m_rightRumble);
+    DriverStationJNI.setJoystickRumble(
+        (byte) this.m_port,
+        this.m_leftRumble,
+        this.m_rightRumble,
+        this.m_leftTriggerRumble,
+        this.m_rightTriggerRumble);
  }
 }
--- a/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
@@ -322,15 +322,15 @@ public final class DriverStationSim {
   * @param stick The joystick number
   * @return The joystick outputs
   */
-  public static long getJoystickOutputs(int stick) {
-    return DriverStationDataJNI.getJoystickOutputs(stick);
+  public static int getJoystickLeds(int stick) {
+    return DriverStationDataJNI.getJoystickLeds(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
   */
  public static int getJoystickRumble(int stick, int rumbleNum) {
@@ -450,8 +450,18 @@ public final class DriverStationSim {
   * @param stick The joystick number
   * @param type The value of type
   */
-  public static void setJoystickType(int stick, int type) {
-    DriverStationDataJNI.setJoystickType(stick, type);
+  public static void setJoystickGamepadType(int stick, int type) {
+    DriverStationDataJNI.setJoystickGamepadType(stick, type);
+  }
+
+  /**
+   * Sets the value of supported outputs for a joystick.
+   *
+   * @param stick The joystick number
+   * @param supportedOutputs The value of supported outputs
+   */
+  public static void setJoystickSupportedOutputs(int stick, int supportedOutputs) {
+    DriverStationDataJNI.setJoystickSupportedOutputs(stick, supportedOutputs);
  }

  /**
--- a/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java
@@ -133,8 +133,17 @@ public class GenericHIDSim {
   *
   * @param type the new device type
   */
-  public void setType(GenericHID.HIDType type) {
-    DriverStationSim.setJoystickType(m_port, type.value);
+  public void setGamepadType(GenericHID.HIDType type) {
+    DriverStationSim.setJoystickGamepadType(m_port, type.value);
+  }
+
+  /**
+   * Set the supported outputs of this device.
+   *
+   * @param supportedOutputs the new supported outputs
+   */
+  public void setSupportedOutputs(int supportedOutputs) {
+    DriverStationSim.setJoystickSupportedOutputs(m_port, supportedOutputs);
  }

  /**
@@ -147,23 +156,12 @@ public class GenericHIDSim {
  }

  /**
-   * Read the output of a button.
+   * Get the led color set.
   *
-   * @param outputNumber the button number
-   * @return the value of the button (true = pressed)
+   * @return the led color set
   */
-  public boolean getOutput(int outputNumber) {
-    long outputs = getOutputs();
-    return (outputs & (1L << (outputNumber - 1))) != 0;
-  }
-
-  /**
-   * Get the encoded 16-bit integer that passes button values.
-   *
-   * @return the button values
-   */
-  public long getOutputs() {
-    return DriverStationSim.getJoystickOutputs(m_port);
+  public int getLeds() {
+    return DriverStationSim.getJoystickLeds(m_port);
  }

  /**
@@ -173,9 +171,24 @@ public class GenericHIDSim {
   * @return the rumble value
   */
  public double getRumble(GenericHID.RumbleType type) {
-    int value =
-        DriverStationSim.getJoystickRumble(
-            m_port, type == GenericHID.RumbleType.kLeftRumble ? 0 : 1);
+    int intType = 0;
+    switch (type) {
+      case kLeftRumble:
+        intType = 0;
+        break;
+      case kRightRumble:
+        intType = 1;
+        break;
+      case kLeftTriggerRumble:
+        intType = 2;
+        break;
+      case kRightTriggerRumble:
+        intType = 3;
+        break;
+      default:
+        return 0.0;
+    }
+    int value = DriverStationSim.getJoystickRumble(m_port, intType);
    return value / 65535.0;
  }
 }