Add most of the DS class

robotdotnet · Mar 19, 2024 · 7e22e01 · 7e22e01
1 parent 34b202a
commit 7e22e01
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Showing 15 changed files with 1,102 additions and 64 deletions.
diff --git a/src/hal/JoystickAxis.cs b/src/hal/JoystickAxis.cs
@@ -1,17 +1,20 @@
+using System.Diagnostics.CodeAnalysis;
 using System.Runtime.InteropServices;
 
 namespace WPIHal;
 
 [StructLayout(LayoutKind.Sequential)]
 public readonly struct JoystickAxes
 {
-    [System.Runtime.CompilerServices.InlineArray(12)]
+    public const int NumJoystickAxes = 12;
+
+    [System.Runtime.CompilerServices.InlineArray(NumJoystickAxes)]
     public struct AxesBuffer
     {
         private float _element0;
     }
 
-    [System.Runtime.CompilerServices.InlineArray(12)]
+    [System.Runtime.CompilerServices.InlineArray(NumJoystickAxes)]
     public struct RawBuffer
     {
         private byte _element0;
@@ -22,6 +25,12 @@ public struct RawBuffer
 
     public readonly int Count => m_count;
 
+    [UnscopedRef]
+    public ReadOnlySpan<float> AxesSpan => m_axes[..Count];
+
+    [UnscopedRef]
+    public ReadOnlySpan<byte> RawSpan => m_raw[..Count];
+
     public readonly double? this[int index]
     {
         get
@@ -49,4 +58,10 @@ public readonly double? this[int index]
         }
 
     }
+
+    public bool IsEqual(ref readonly JoystickAxes other)
+    {
+        // Assumed that if raw is equal, floats are equal
+        return m_count == other.Count && RawSpan.SequenceEqual(other.RawSpan);
+    }
 }
diff --git a/src/hal/JoystickButtons.cs b/src/hal/JoystickButtons.cs
@@ -5,25 +5,39 @@ namespace WPIHal;
 [StructLayout(LayoutKind.Sequential)]
 public readonly struct JoystickButtons
 {
-    private readonly uint buttons;
-    private readonly byte count;
+    private readonly uint m_buttons;
+    private readonly byte m_count;
 
-    public int Count => count;
+    public int Count => m_count;
 
-    public uint Buttons => buttons;
+    public uint Buttons => m_buttons;
+
+    public ReadOnlySpan<bool> ToSpan(Span<bool> storage)
+    {
+        for (int i = 0; i < m_count; i++)
+        {
+            storage[i] = (m_buttons & i) != 0;
+        }
+        return storage[..m_count];
+    }
 
     public bool? this[int index]
     {
         get
         {
-            if (index < count)
+            if (index < m_count)
             {
-                return (buttons & index) != 0;
+                return (m_buttons & index) != 0;
             }
             else
             {
                 return null;
             }
         }
     }
+
+    public bool IsEqual(JoystickButtons other)
+    {
+        return m_count == other.m_count && m_buttons == other.m_buttons;
+    }
 }
diff --git a/src/hal/JoystickPOVs.cs b/src/hal/JoystickPOVs.cs
@@ -1,12 +1,14 @@
+using System.Diagnostics.CodeAnalysis;
 using System.Runtime.InteropServices;
 
 namespace WPIHal;
 
 [StructLayout(LayoutKind.Sequential)]
 public readonly struct JoystickPOVs
 {
+    public const int NumJoystickPOVs = 12;
 
-    [System.Runtime.CompilerServices.InlineArray(12)]
+    [System.Runtime.CompilerServices.InlineArray(NumJoystickPOVs)]
     public struct PovsBuffer
     {
         private short _element0;
@@ -17,6 +19,9 @@ public struct PovsBuffer
 
     public readonly int Count => m_count;
 
+    [UnscopedRef]
+    public ReadOnlySpan<short> PovsSpan => m_povs[..Count];
+
     public readonly int? this[int index]
     {
         get
@@ -32,4 +37,8 @@ public readonly int? this[int index]
         }
     }
 
+    public bool IsEqual(ref readonly JoystickPOVs other)
+    {
+        return m_count == other.Count && PovsSpan.SequenceEqual(other.PovsSpan);
+    }
 }
diff --git a/src/hal/MatchInfo.cs b/src/hal/MatchInfo.cs
@@ -1,11 +1,12 @@
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices.Marshalling;
+using System.Text;
 
 namespace WPIHal;
 
 [NativeMarshalling(typeof(MatchInfoMarshaller))]
 [StructLayout(LayoutKind.Auto)]
-public record struct MatchInfo(string EventName, MatchType MatchType, int MatchNumber, int ReplayNumber, byte[] GameSpecificMessage);
+public record struct MatchInfo(string EventName, MatchType MatchType, int MatchNumber, int ReplayNumber, string GameSpecificMessage);
 
 [CustomMarshaller(typeof(MatchInfo), MarshalMode.ManagedToUnmanagedOut, typeof(MatchInfoMarshaller))]
 [CustomMarshaller(typeof(MatchInfo), MarshalMode.ManagedToUnmanagedIn, typeof(MatchInfoMarshaller))]
@@ -19,7 +20,7 @@ public static unsafe MatchInfo ConvertToManaged(NativeMatchInfo unmanaged)
             MatchType = unmanaged.matchType,
             MatchNumber = unmanaged.matchNumber,
             ReplayNumber = unmanaged.replayNumber,
-            GameSpecificMessage = unmanaged.gameSpecificMessage.FromRawBytes(unmanaged.gameSpecificMessageSize)
+            GameSpecificMessage = unmanaged.gameSpecificMessage.FromByteString(unmanaged.gameSpecificMessageSize)
         };
     }
 
@@ -49,9 +50,15 @@ public readonly unsafe byte[] FromRawBytes(int length)
             {
                 byte[] ret = new byte[int.Min(length, 64)];
                 ReadOnlySpan<byte> thisSpan = this;
-                thisSpan[ret.Length..].CopyTo(ret.AsSpan());
+                thisSpan[..ret.Length].CopyTo(ret.AsSpan());
                 return ret;
             }
+
+            public readonly unsafe string FromByteString(int length)
+            {
+                ReadOnlySpan<byte> thisSpan = this;
+                return Encoding.UTF8.GetString(thisSpan[..length]);
+            }
         }
 
         public Utf8StringBuffer eventName;

diff --git a/src/hal/Natives/HalBase.cs b/src/hal/Natives/HalBase.cs
@@ -2,6 +2,7 @@
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices.Marshalling;
 using System.Text;
+using CommunityToolkit.Diagnostics;
 using WPIHal.Handles;
 using WPIHal.Marshal;
 using WPIUtil;
@@ -16,7 +17,15 @@ public static partial class HalBase
     [LibraryImport("wpiHal", EntryPoint = "HAL_Initialize")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     [return: MarshalAs(UnmanagedType.I4)]
-    public static partial bool Initialize(int timeout, int mode);
+    internal static partial bool Initialize(int timeout, int mode);
+
+    public static void Initialize()
+    {
+        if (!Initialize(500, 0))
+        {
+            ThrowHelper.ThrowInvalidOperationException("HAL failed to initialize");
+        }
+    }
 
     [AutomateStatusCheck(StatusCheckMethod = StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetFPGATime")]
@@ -31,7 +40,8 @@ public static partial class HalBase
     [AutomateStatusCheck(StatusCheckMethod = StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetBrownedOut")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial int GetBrownedOut(out HalStatus status);
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetBrownedOut(out HalStatus status);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetErrorMessage")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
@@ -41,7 +51,8 @@ public static partial class HalBase
     [AutomateStatusCheck(StatusCheckMethod = StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetFPGAButton")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial int GetFPGAButton(out HalStatus status);
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetFPGAButton(out HalStatus status);
 
     [AutomateStatusCheck(StatusCheckMethod = StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetFPGARevision")]
@@ -68,7 +79,8 @@ public static partial class HalBase
     [AutomateStatusCheck(StatusCheckMethod = StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetSystemActive")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial int GetSystemActive(out HalStatus status);
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetSystemActive(out HalStatus status);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetLastError")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]

diff --git a/src/hal/Natives/HalDriverStation.cs b/src/hal/Natives/HalDriverStation.cs
@@ -18,13 +18,17 @@ public static partial class HalDriverStation
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalStatus GetControlWord(out ControlWord controlWord);
 
+    [LibraryImport("wpiHal", EntryPoint = "HAL_GetControlWord")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial HalStatus GetControlWordNative(uint* controlWord);
+
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickAxes")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalStatus GetJoystickAxes(int joystickNum, out JoystickAxes axes);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickAxisType")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial HalStatus GetJoystickAxisType(int joystickNum, int axis);
+    public static partial int GetJoystickAxisType(int joystickNum, int axis);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickButtons")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
@@ -36,7 +40,8 @@ public static partial class HalDriverStation
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickIsXbox")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial HalStatus GetJoystickIsXbox(int joystickNum);
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetJoystickIsXbox(int joystickNum);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickName")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
@@ -48,7 +53,7 @@ public static partial class HalDriverStation
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetJoystickType")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    public static partial HalStatus GetJoystickType(int joystickNum);
+    public static partial int GetJoystickType(int joystickNum);
 
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetMatchInfo")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]

diff --git a/src/ntcore/Generated/BooleanTopic.cs b/src/ntcore/Generated/BooleanTopic.cs
@@ -54,7 +54,7 @@ public BooleanTopic(NetworkTableInstance inst, NtTopic handle) : base(inst, hand
     /// <returns>subscriber</returns>
     public IBooleanSubscriber Subscribe(
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtSubscriber>(
             this,
@@ -83,7 +83,7 @@ public IBooleanSubscriber Subscribe(
     public IBooleanSubscriber SubscribeEx(
         string typeString,
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtSubscriber>(
             this,
@@ -112,7 +112,7 @@ public IBooleanSubscriber SubscribeEx(
     public IBooleanSubscriber SubscribeEx(
         ReadOnlySpan<byte> typeString,
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtSubscriber>(
             this,
@@ -137,7 +137,7 @@ public IBooleanSubscriber SubscribeEx(
     /// <param name="options">publish options</param>
     /// <returns>publisher</returns>
     public IBooleanPublisher Publish(
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtPublisher>(
             this,
@@ -165,7 +165,7 @@ public IBooleanPublisher Publish(
     /// <returns>publisher</returns>
     public IBooleanPublisher PublishEx(
         string typeString, string properties,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtPublisher>(
             this,
@@ -194,7 +194,7 @@ public IBooleanPublisher PublishEx(
     public IBooleanPublisher PublishEx(
         ReadOnlySpan<byte> typeString,
         string properties,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtPublisher>(
             this,
@@ -223,7 +223,7 @@ public IBooleanPublisher PublishEx(
     public IBooleanPublisher PublishEx(
         string typeString,
         ReadOnlySpan<byte> properties,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtPublisher>(
             this,
@@ -252,7 +252,7 @@ public IBooleanPublisher PublishEx(
     public IBooleanPublisher PublishEx(
         ReadOnlySpan<byte> typeString,
         ReadOnlySpan<byte> properties,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtPublisher>(
             this,
@@ -284,7 +284,7 @@ public IBooleanPublisher PublishEx(
     /// <returns>entry</returns>
     public IBooleanEntry GetEntry(
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtEntry>(
             this,
@@ -318,7 +318,7 @@ public IBooleanEntry GetEntry(
     public IBooleanEntry GetEntryEx(
         string typeString,
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtEntry>(
             this,
@@ -352,7 +352,7 @@ public IBooleanEntry GetEntryEx(
     public IBooleanEntry GetEntryEx(
         ReadOnlySpan<byte> typeString,
         bool defaultValue,
-        PubSubOptions options)
+        PubSubOptions options = default)
     {
         return new BooleanEntryImpl<NtEntry>(
             this,