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https://github.com/wpilibsuite/allwpilib
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Repaired simulation build on linux
Reverted to old driverstation and joystick code because we're not ready for windows drive station yet updated paths to reflect new wpilib organization fixed name of gazebo topic (if you want /gazebo/frc/time use ~/time) included network tables in wpilibJavaSim Added ds script, and improved frcsim script always start gazebo with verbose Change-Id: I3c54b7000019a5985079a88200896a8069e69b86
This commit is contained in:
Peter_Mitrano
@@ -1,6 +1,5 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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@@ -8,9 +7,7 @@
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#ifndef JOYSTICK_H_
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#define JOYSTICK_H_
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#include <cstdint>
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#include <memory>
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#include <vector>
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#include "GenericHID.h"
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#include "ErrorBase.h"
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@@ -18,101 +15,64 @@ class DriverStation;
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/**
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* Handle input from standard Joysticks connected to the Driver Station.
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* This class handles standard input that comes from the Driver Station. Each
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* time a value is requested
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* the most recent value is returned. There is a single class instance for each
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* joystick and the mapping
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* This class handles standard input that comes from the Driver Station. Each time a value is requested
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* the most recent value is returned. There is a single class instance for each joystick and the mapping
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* of ports to hardware buttons depends on the code in the driver station.
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*/
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class Joystick : public GenericHID, public ErrorBase {
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public:
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static const uint32_t kDefaultXAxis = 0;
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static const uint32_t kDefaultYAxis = 1;
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static const uint32_t kDefaultZAxis = 2;
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static const uint32_t kDefaultTwistAxis = 2;
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static const uint32_t kDefaultThrottleAxis = 3;
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typedef enum {
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kXAxis,
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kYAxis,
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kZAxis,
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kTwistAxis,
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kThrottleAxis,
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kNumAxisTypes
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} AxisType;
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static const uint32_t kDefaultTriggerButton = 1;
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static const uint32_t kDefaultTopButton = 2;
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typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
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typedef enum { kLeftRumble, kRightRumble } RumbleType;
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typedef enum {
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kUnknown = -1,
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kXInputUnknown = 0,
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kXInputGamepad = 1,
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kXInputWheel = 2,
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kXInputArcadeStick = 3,
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kXInputFlightStick = 4,
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kXInputDancePad = 5,
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kXInputGuitar = 6,
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kXInputGuitar2 = 7,
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kXInputDrumKit = 8,
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kXInputGuitar3 = 11,
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kXInputArcadePad = 19,
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kHIDJoystick = 20,
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kHIDGamepad = 21,
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kHIDDriving = 22,
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kHIDFlight = 23,
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kHID1stPerson = 24
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} HIDType;
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explicit Joystick(uint32_t port);
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Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
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virtual ~Joystick() = default;
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class Joystick : public GenericHID, public ErrorBase
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{
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public:
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static const uint32_t kDefaultXAxis = 1;
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static const uint32_t kDefaultYAxis = 2;
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static const uint32_t kDefaultZAxis = 3;
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static const uint32_t kDefaultTwistAxis = 4;
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static const uint32_t kDefaultThrottleAxis = 3;
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typedef enum
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{
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kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis, kNumAxisTypes
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} AxisType;
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static const uint32_t kDefaultTriggerButton = 1;
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static const uint32_t kDefaultTopButton = 2;
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typedef enum
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{
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kTriggerButton, kTopButton, kNumButtonTypes
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} ButtonType;
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Joystick(const Joystick&) = delete;
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Joystick& operator=(const Joystick&) = delete;
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explicit Joystick(uint32_t port);
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Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
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virtual ~Joystick() = default;
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uint32_t GetAxisChannel(AxisType axis) const;
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void SetAxisChannel(AxisType axis, uint32_t channel);
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Joystick(const Joystick&) = delete;
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Joystick& operator=(const Joystick&) = delete;
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virtual float GetX(JoystickHand hand = kRightHand) const override;
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virtual float GetY(JoystickHand hand = kRightHand) const override;
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virtual float GetZ() const override;
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virtual float GetTwist() const override;
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virtual float GetThrottle() const override;
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virtual float GetAxis(AxisType axis) const;
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float GetRawAxis(uint32_t axis) const override;
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uint32_t GetAxisChannel(AxisType axis);
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void SetAxisChannel(AxisType axis, uint32_t channel);
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virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
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virtual bool GetTop(JoystickHand hand = kRightHand) const override;
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virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
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virtual bool GetRawButton(uint32_t button) const override;
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virtual int GetPOV(uint32_t pov = 0) const override;
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bool GetButton(ButtonType button) const;
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static Joystick *GetStickForPort(uint32_t port);
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virtual float GetX(JoystickHand hand = kRightHand) const override;
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virtual float GetY(JoystickHand hand = kRightHand) const override;
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virtual float GetZ() const override;
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virtual float GetTwist() const override;
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virtual float GetThrottle() const override;
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virtual float GetAxis(AxisType axis) const;
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float GetRawAxis(uint32_t axis) const override;
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virtual float GetMagnitude() const;
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virtual float GetDirectionRadians() const;
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virtual float GetDirectionDegrees() const;
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virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
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virtual bool GetTop(JoystickHand hand = kRightHand) const override;
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virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
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virtual bool GetRawButton(uint32_t button) const override;
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virtual int GetPOV(uint32_t pov = 1) const override;
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bool GetButton(ButtonType button) const;
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static Joystick* GetStickForPort(uint32_t port);
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bool GetIsXbox() const;
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Joystick::HIDType GetType() const;
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std::string GetName() const;
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int GetAxisType(uint8_t axis) const;
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virtual float GetMagnitude() const;
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virtual float GetDirectionRadians() const;
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virtual float GetDirectionDegrees() const;
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int GetAxisCount() const;
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int GetButtonCount() const;
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int GetPOVCount() const;
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void SetRumble(RumbleType type, float value);
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void SetOutput(uint8_t outputNumber, bool value);
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void SetOutputs(uint32_t value);
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private:
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DriverStation &m_ds;
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uint32_t m_port;
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::std::vector<uint32_t> m_axes;
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::std::vector<uint32_t> m_buttons;
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uint32_t m_outputs = 0;
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uint16_t m_leftRumble = 0;
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uint16_t m_rightRumble = 0;
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private:
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DriverStation &m_ds;
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uint32_t m_port;
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std::unique_ptr<uint32_t[]> m_axes;
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std::unique_ptr<uint32_t[]> m_buttons;
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};
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#endif
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