finished up the fitpc pc side joystick reading code
This meant writing a nice OO api for reading joysticks.
It also involved redoing the wire format to fix byte-order problems and
get rid of the need for packing structs.
diff --git a/aos/atom_code/input/FRCComm.h b/aos/atom_code/input/FRCComm.h
deleted file mode 100644
index 98619de..0000000
--- a/aos/atom_code/input/FRCComm.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*************************************************************
- * NOTICE
- *
- * These are the only externally exposed functions to the
- * NetworkCommunication library
- *
- * This is an implementation of FRC Spec for Comm Protocol
- * Revision 4.5, June 30, 2008
- *
- * Copyright (c) National Instruments 2008. All Rights Reserved.
- *
- *************************************************************/
-
-#ifndef __FRC_COMM_H__
-#define __FRC_COMM_H__
-
-#include <stdint.h>
-
-typedef uint64_t UINT64;
-typedef uint32_t UINT32;
-typedef uint16_t UINT16;
-typedef uint8_t UINT8;
-typedef int8_t INT8;
-
-struct FRCCommonControlData{
- UINT16 packetIndex;
- union {
- UINT8 control;
- // The order of the bits has to be flipped on little-endian machines (aka
- // everything other than the cRIO that we build for) in order for it to
- // work. Upstream WPILib does this based off of a different macro.
-#ifndef __VXWORKS__
- struct {
- UINT8 checkVersions :1;
- UINT8 test :1;
- UINT8 resync : 1;
- UINT8 fmsAttached:1;
- UINT8 autonomous : 1;
- UINT8 enabled : 1;
- UINT8 notEStop : 1;
- UINT8 reset : 1;
- };
-#else
- struct {
- UINT8 reset : 1;
- UINT8 notEStop : 1;
- UINT8 enabled : 1;
- UINT8 autonomous : 1;
- UINT8 fmsAttached:1;
- UINT8 resync : 1;
- UINT8 test :1;
- UINT8 checkVersions :1;
- };
-#endif
- };
- UINT8 dsDigitalIn;
- UINT16 teamID;
-
- char dsID_Alliance;
- char dsID_Position;
-
- union {
- INT8 stick0Axes[6];
- struct {
- INT8 stick0Axis1;
- INT8 stick0Axis2;
- INT8 stick0Axis3;
- INT8 stick0Axis4;
- INT8 stick0Axis5;
- INT8 stick0Axis6;
- };
- };
- UINT16 stick0Buttons; // Left-most 4 bits are unused
-
- union {
- INT8 stick1Axes[6];
- struct {
- INT8 stick1Axis1;
- INT8 stick1Axis2;
- INT8 stick1Axis3;
- INT8 stick1Axis4;
- INT8 stick1Axis5;
- INT8 stick1Axis6;
- };
- };
- UINT16 stick1Buttons; // Left-most 4 bits are unused
-
- union {
- INT8 stick2Axes[6];
- struct {
- INT8 stick2Axis1;
- INT8 stick2Axis2;
- INT8 stick2Axis3;
- INT8 stick2Axis4;
- INT8 stick2Axis5;
- INT8 stick2Axis6;
- };
- };
- UINT16 stick2Buttons; // Left-most 4 bits are unused
-
- union {
- INT8 stick3Axes[6];
- struct {
- INT8 stick3Axis1;
- INT8 stick3Axis2;
- INT8 stick3Axis3;
- INT8 stick3Axis4;
- INT8 stick3Axis5;
- INT8 stick3Axis6;
- };
- };
- UINT16 stick3Buttons; // Left-most 4 bits are unused
-
- //Analog inputs are 10 bit right-justified
- UINT16 analog1;
- UINT16 analog2;
- UINT16 analog3;
- UINT16 analog4;
-
- UINT64 cRIOChecksum;
- UINT32 FPGAChecksum0;
- UINT32 FPGAChecksum1;
- UINT32 FPGAChecksum2;
- UINT32 FPGAChecksum3;
-
- char versionData[8];
-} __attribute__((packed));
-
-#endif
diff --git a/aos/atom_code/input/input.gyp b/aos/atom_code/input/input.gyp
index 25ef4b9..19d0d2f 100644
--- a/aos/atom_code/input/input.gyp
+++ b/aos/atom_code/input/input.gyp
@@ -1,15 +1,22 @@
{
'targets': [
{
- 'target_name': 'joystick',
+ 'target_name': 'joystick_input',
'type': 'static_library',
'sources': [
- 'JoystickInput.cpp'
+ 'joystick_input.cc',
],
'dependencies': [
+ '<(AOS)/common/input/input.gyp:driver_station_data',
'<(AOS)/common/messages/messages.gyp:aos_queues',
'<(AOS)/common/network/network.gyp:socket',
- ]
+ '<(AOS)/common/common.gyp:common',
+ '<(EXTERNALS):WPILib-NetworkRobotValues',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/input/input.gyp:driver_station_data',
+ ],
},
],
}
diff --git a/aos/atom_code/input/joystick_input.cc b/aos/atom_code/input/joystick_input.cc
new file mode 100644
index 0000000..01bcbc6
--- /dev/null
+++ b/aos/atom_code/input/joystick_input.cc
@@ -0,0 +1,56 @@
+#include "aos/atom_code/input/joystick_input.h"
+
+#include <string.h>
+
+#include "aos/externals/WPILib/WPILib/NetworkRobot/NetworkRobotValues.h"
+
+#include "aos/common/Configuration.h"
+#include "aos/common/network/ReceiveSocket.h"
+#include "aos/common/messages/RobotState.q.h"
+#include "aos/common/logging/logging.h"
+
+namespace aos {
+namespace input {
+
+void JoystickInput::Run() {
+ ReceiveSocket sock(NetworkPort::kDS);
+
+ NetworkRobotJoysticks joysticks;
+ char buffer[sizeof(joysticks) + ::buffers::kOverhead];
+ driver_station::Data data;
+
+ while (true) {
+ int received = sock.Receive(buffer, sizeof(buffer));
+ if (received == -1) {
+ LOG(WARNING, "socket receive failed with %d: %s\n",
+ errno, strerror(errno));
+ continue;
+ }
+
+ if (!joysticks.DeserializeFrom(buffer, received)) {
+ LOG(WARNING, "deserializing data from %zd bytes failed\n", received);
+ continue;
+ }
+
+ if (!robot_state.MakeWithBuilder()
+ .enabled(joysticks.control.enabled())
+ .autonomous(joysticks.control.autonomous())
+ .team_id(joysticks.team_number)
+ .Send()) {
+ LOG(WARNING, "sending robot_state failed\n");
+ } else {
+ LOG(DEBUG, "sent robot_state{%s, %s, %hu}\n",
+ joysticks.control.enabled() ? "enabled" : "disabled",
+ joysticks.control.autonomous() ? "auto" : "not auto",
+ joysticks.team_number);
+ }
+
+ data.Update(joysticks);
+ // TODO(brians): posedge/negedge logging
+
+ RunIteration(data);
+ }
+}
+
+} // namespace input
+} // namespace aos
diff --git a/aos/atom_code/input/joystick_input.h b/aos/atom_code/input/joystick_input.h
new file mode 100644
index 0000000..d905eaa
--- /dev/null
+++ b/aos/atom_code/input/joystick_input.h
@@ -0,0 +1,20 @@
+#ifndef AOS_ATOM_CODE_INPUT_JOYSTICKS_INPUT_H_
+#define AOS_ATOM_CODE_INPUT_JOYSTICKS_INPUT_H_
+
+#include "aos/common/input/driver_station_data.h"
+
+namespace aos {
+namespace input {
+
+class JoystickInput {
+ public:
+ void Run();
+
+ private:
+ virtual void RunIteration(const driver_station::Data &data) = 0;
+};
+
+} // namespace input
+} // namespace aos
+
+#endif // AOS_ATOM_CODE_INPUT_JOYSTICKS_INPUT_H_