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https://github.com/wpilibsuite/allwpilib
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83f902f2f6
This reverts the previous commit instead fixing it at the root HALGetJoystickDescriptor function, which also fixes use of that function by the C++ DriverStation class. Change-Id: I1f203a015d8f10d119c61635def2822bf124754c
139 lines
3.4 KiB
C++
139 lines
3.4 KiB
C++
//This file must compile on ALL PLATFORMS. Be very careful what you put in here.
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#include "HAL/HAL.hpp"
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#include "FRC_NetworkCommunication/FRCComm.h"
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#include <cstring>
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extern "C" {
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int HALGetControlWord(HALControlWord *data)
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{
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return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
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}
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void HALSetNewDataSem(MULTIWAIT_ID sem)
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{
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setNewDataSem(sem->native_handle());
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}
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int HALGetAllianceStation(enum HALAllianceStationID *allianceStation)
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{
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return FRC_NetworkCommunication_getAllianceStation((AllianceStationID_t*) allianceStation);
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}
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int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes)
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{
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return FRC_NetworkCommunication_getJoystickAxes(joystickNum, (JoystickAxes_t*) axes, kMaxJoystickAxes);
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}
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int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs)
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{
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return FRC_NetworkCommunication_getJoystickPOVs(joystickNum, (JoystickPOV_t*) povs, kMaxJoystickPOVs);
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}
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int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
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{
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return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
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}
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int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
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{
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desc->isXbox = 0;
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desc->type = -1;
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desc->name[0] = '\0';
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desc->axisCount = 0;
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desc->buttonCount = 0;
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desc->povCount = 0;
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return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
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&desc->axisCount, (uint8_t *)&desc->axisTypes, &desc->buttonCount, &desc->povCount);
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}
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int HALGetJoystickIsXbox(uint8_t joystickNum)
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{
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HALJoystickDescriptor joystickDesc;
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if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
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{
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return 0;
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}else
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{
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return joystickDesc.isXbox;
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}
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}
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int HALGetJoystickType(uint8_t joystickNum)
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{
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HALJoystickDescriptor joystickDesc;
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if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
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{
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return -1;
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} else
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{
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return joystickDesc.type;
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}
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}
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char* HALGetJoystickName(uint8_t joystickNum)
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{
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HALJoystickDescriptor joystickDesc;
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if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
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{
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char* name = (char*)std::malloc(1);
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name[0] = '\0';
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return name;
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} else
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{
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size_t len = std::strlen(joystickDesc.name);
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char* name = (char*)std::malloc(len+1);
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std::strcpy(name, joystickDesc.name);
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return name;
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}
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}
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int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis)
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{
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HALJoystickDescriptor joystickDesc;
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if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
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{
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return -1;
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} else
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{
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return joystickDesc.axisTypes[axis];
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}
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}
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int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)
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{
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return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble);
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}
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int HALGetMatchTime(float *matchTime)
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{
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return FRC_NetworkCommunication_getMatchTime(matchTime);
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}
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void HALNetworkCommunicationObserveUserProgramStarting(void)
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{
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FRC_NetworkCommunication_observeUserProgramStarting();
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}
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void HALNetworkCommunicationObserveUserProgramDisabled(void)
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{
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FRC_NetworkCommunication_observeUserProgramDisabled();
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}
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void HALNetworkCommunicationObserveUserProgramAutonomous(void)
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{
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FRC_NetworkCommunication_observeUserProgramAutonomous();
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}
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void HALNetworkCommunicationObserveUserProgramTeleop(void)
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{
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FRC_NetworkCommunication_observeUserProgramTeleop();
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}
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void HALNetworkCommunicationObserveUserProgramTest(void)
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{
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FRC_NetworkCommunication_observeUserProgramTest();
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}
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} // extern "C"
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