Split joystick_reader into hardware shim + application.
Change-Id: If31e6dd7ece547a2952ec21e2f4bc745ee6f9d84
diff --git a/aos/prime/input/joystick_input.cc b/aos/prime/input/joystick_input.cc
index 7e2f0cd..c9b890a 100644
--- a/aos/prime/input/joystick_input.cc
+++ b/aos/prime/input/joystick_input.cc
@@ -13,7 +13,7 @@
namespace aos {
namespace input {
-void JoystickInput::Run() {
+void JoystickProxy::Run() {
network::ReceiveSocket sock(NetworkPort::kDS);
// If true, this code won't try to read anything from the network and instead
// feed all 0s to the joystick code.
@@ -23,7 +23,6 @@
NetworkRobotJoysticks joysticks;
char buffer[sizeof(joysticks) + ::buffers::kOverhead];
- driver_station::Data data;
while (true) {
if (kFakeJoysticks) {
@@ -43,17 +42,38 @@
}
auto new_state = robot_state.MakeMessage();
+ new_state->test_mode = joysticks.control.test_mode();
+ new_state->fms_attached = joysticks.control.fms_attached();
new_state->enabled = joysticks.control.enabled();
new_state->autonomous = joysticks.control.autonomous();
new_state->team_id = joysticks.team_number;
new_state->fake = kFakeJoysticks;
+
+ for (int i = 0; i < 4; ++i) {
+ new_state->joysticks[i].buttons = joysticks.joysticks[i].buttons;
+ for (int j = 0; j < 4; ++j) {
+ // TODO(brians): check this math against what our joysticks report as
+ // their logical minimums and maximums
+ new_state->joysticks[i].axis[j] = joysticks.joysticks[i].axes[j] / 127.0;
+ }
+ }
+
LOG_STRUCT(DEBUG, "sending", *new_state);
if (!new_state.Send()) {
LOG(WARNING, "sending robot_state failed\n");
}
+ }
+}
- data.Update(joysticks);
+void JoystickInput::Run() {
+ driver_station::Data data;
+ while (true) {
+ robot_state.FetchAnother();
+
+ LOG_STRUCT(DEBUG, "sending", *robot_state);
+
+ data.Update(*robot_state);
{
using driver_station::JoystickFeature;