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Fix WPILib 2026 protocol compatibility #15

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Fix WPILib 2026 protocol compatibility #15

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890138c
Fix qMakePair API for Qt 6 compatibility
wexler Nov 10, 2025
9d3fa94
Fix WPILib 2026 protocol compatibility
wexler Jan 26, 2026
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22 changes: 18 additions & 4 deletions src/joysticks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -215,10 +215,19 @@ void DS_JoysticksReset(void)
register_event();
}

/*
* WPILib HAL joystick limits
*/
#define WPILIB_MAX_AXES 12
#define WPILIB_MAX_BUTTONS 32
#define WPILIB_MAX_POVS 12

/**
* Registers a new joystick with the given number of \a axes, \a hats and
* \a buttons. All joystick values are set to a neutral state to ensure
* safe operation of the robot.
*
* Values are clamped to WPILib limits to prevent protocol errors.
*/
void DS_JoysticksAdd(const int axes, const int hats, const int buttons)
{
Expand All @@ -229,13 +238,18 @@ void DS_JoysticksAdd(const int axes, const int hats, const int buttons)
return;
}

/* Clamp to WPILib limits */
int clamped_axes = (axes > WPILIB_MAX_AXES) ? WPILIB_MAX_AXES : axes;
int clamped_hats = (hats > WPILIB_MAX_POVS) ? WPILIB_MAX_POVS : hats;
int clamped_buttons = (buttons > WPILIB_MAX_BUTTONS) ? WPILIB_MAX_BUTTONS : buttons;

/* Allocate memory for a new joystick */
DS_Joystick *joystick = (DS_Joystick *)calloc(1, sizeof(DS_Joystick));

/* Set joystick properties */
joystick->num_axes = axes;
joystick->num_hats = hats;
joystick->num_buttons = buttons;
/* Set joystick properties (clamped to WPILib limits) */
joystick->num_axes = clamped_axes;
joystick->num_hats = clamped_hats;
joystick->num_buttons = clamped_buttons;

/* Set joystick value arrays */
joystick->hats = calloc(hats, sizeof(int));
Expand Down
52 changes: 35 additions & 17 deletions src/protocols/frc_2020.c
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Original file line number Diff line number Diff line change
Expand Up @@ -280,18 +280,32 @@ static uint8_t get_station_code(void)
}

/**
* Returns the size of the given \a joystick. This function is used to generate
* joystick data (which is sent to the robot) and to resize the client->robot
* datagram automatically.
* Returns the number of bytes needed to encode the button bitmask.
* WPILib expects (numButtons + 7) / 8 bytes.
*/
static int get_button_bytes(const int num_buttons)
{
if (num_buttons <= 0)
return 0;
return (num_buttons + 7) / 8;
}

/**
* Returns the size of the given \a joystick data block (NOT including the
* length byte itself). This function is used to generate joystick data
* (which is sent to the robot) and to resize the client->robot datagram.
*
* Format: [tag][axes_count][axes...][button_count][button_bytes...][pov_count][povs...]
*/
static uint8_t get_joystick_size(const int joystick)
{
int header_size = 2;
int button_data = DS_GetJoystickNumButtons(joystick) + 1;
int axis_data = DS_GetJoystickNumAxes(joystick) + 1;
int hat_data = (DS_GetJoystickNumHats(joystick) * 2) + 1;
int tag_size = 1; /* Tag byte (0x0c) - included in length */
int num_buttons = DS_GetJoystickNumButtons(joystick);
int button_data = 1 + get_button_bytes(num_buttons); /* count + bitmask bytes */
int axis_data = 1 + DS_GetJoystickNumAxes(joystick); /* count + axis bytes */
int hat_data = 1 + (DS_GetJoystickNumHats(joystick) * 2); /* count + 2 bytes per hat */

return header_size + button_data + axis_data + hat_data;
return tag_size + axis_data + button_data + hat_data;
}

/**
Expand Down Expand Up @@ -383,16 +397,20 @@ static DS_String get_joystick_data(void)
for (j = 0; j < DS_GetJoystickNumAxes(i); ++j)
DS_StrAppend(&data, DS_FloatToByte(DS_GetJoystickAxis(i, j), 1));

/* Generate button data */
uint16_t button_flags = 0;
for (j = 0; j < DS_GetJoystickNumButtons(i); ++j)
button_flags += DS_GetJoystickButton(i, j) ? (int)pow(2, j) : 0;
/* Generate button bitmask (supports up to 32 buttons) */
int num_buttons = DS_GetJoystickNumButtons(i);
uint32_t button_flags = 0;
for (j = 0; j < num_buttons; ++j)
if (DS_GetJoystickButton(i, j))
button_flags |= (1u << j);

/* Add button count */
DS_StrAppend(&data, (uint8_t)num_buttons);

/* Add button data */
/* potential TODO: this assumes num_buttons <= 16 */
DS_StrAppend(&data, DS_GetJoystickNumButtons(i));
DS_StrAppend(&data, (uint8_t)(button_flags >> 8));
DS_StrAppend(&data, (uint8_t)(button_flags));
/* Add button bitmask bytes in big-endian order (high bytes first) */
int button_bytes = get_button_bytes(num_buttons);
for (j = button_bytes - 1; j >= 0; --j)
DS_StrAppend(&data, (uint8_t)(button_flags >> (j * 8)));

/* Add hat data */
DS_StrAppend(&data, DS_GetJoystickNumHats(i));
Expand Down
26 changes: 13 additions & 13 deletions wrappers/Qt/EventLogger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,7 +276,7 @@ void DSEventLogger::saveDataLoop()
void DSEventLogger::onCANUsageChanged(int usage)
{
Q_UNUSED(usage);
m_canUsageLog.append(qMakePair<qint64, int>(currentTime(), usage));
m_canUsageLog.append(QPair<qint64, int>(currentTime(), usage));
}

/**
Expand All @@ -285,7 +285,7 @@ void DSEventLogger::onCANUsageChanged(int usage)
void DSEventLogger::onCPUUsageChanged(int usage)
{
Q_UNUSED(usage);
m_cpuUsageLog.append(qMakePair<qint64, int>(currentTime(), usage));
m_cpuUsageLog.append(QPair<qint64, int>(currentTime(), usage));
}

/**
Expand All @@ -294,7 +294,7 @@ void DSEventLogger::onCPUUsageChanged(int usage)
void DSEventLogger::onRAMUsageChanged(int usage)
{
Q_UNUSED(usage);
m_ramUsageLog.append(qMakePair<qint64, int>(currentTime(), usage));
m_ramUsageLog.append(QPair<qint64, int>(currentTime(), usage));
}

/**
Expand All @@ -303,7 +303,7 @@ void DSEventLogger::onRAMUsageChanged(int usage)
void DSEventLogger::onNewMessage(QString message)
{
Q_UNUSED(message);
m_messagesLog.append(qMakePair<qint64, QString>(currentTime(), message));
m_messagesLog.append(QPair<qint64, QString>(currentTime(), message));
}

/**
Expand All @@ -312,7 +312,7 @@ void DSEventLogger::onNewMessage(QString message)
void DSEventLogger::onDiskUsageChanged(int usage)
{
Q_UNUSED(usage);
m_diskUsageLog.append(qMakePair<qint64, int>(currentTime(), usage));
m_diskUsageLog.append(QPair<qint64, int>(currentTime(), usage));
}

/**
Expand All @@ -321,7 +321,7 @@ void DSEventLogger::onDiskUsageChanged(int usage)
void DSEventLogger::onEnabledChanged(bool enabled)
{
LOG << "Robot enabled state set to" << enabled;
m_enabledLog.append(qMakePair<qint64, bool>(currentTime(), enabled));
m_enabledLog.append(QPair<qint64, bool>(currentTime(), enabled));
}

/**
Expand All @@ -338,7 +338,7 @@ void DSEventLogger::onTeamNumberChanged(int number)
void DSEventLogger::onVoltageChanged(float voltage)
{
Q_UNUSED(voltage);
m_voltageLog.append(qMakePair<qint64, float>(currentTime(), voltage));
m_voltageLog.append(QPair<qint64, float>(currentTime(), voltage));
}

/**
Expand All @@ -347,7 +347,7 @@ void DSEventLogger::onVoltageChanged(float voltage)
void DSEventLogger::onRobotCodeChanged(bool robotCode)
{
LOG << "Robot code status set to" << robotCode;
m_robotCodeLog.append(qMakePair<qint64, bool>(currentTime(), robotCode));
m_robotCodeLog.append(QPair<qint64, bool>(currentTime(), robotCode));
}

/**
Expand All @@ -356,7 +356,7 @@ void DSEventLogger::onRobotCodeChanged(bool robotCode)
void DSEventLogger::onFMSCommunicationsChanged(bool connected)
{
LOG << "FMS communications set to" << connected;
m_fmsCommsLog.append(qMakePair<qint64, bool>(currentTime(), connected));
m_fmsCommsLog.append(QPair<qint64, bool>(currentTime(), connected));
}

/**
Expand All @@ -365,7 +365,7 @@ void DSEventLogger::onFMSCommunicationsChanged(bool connected)
void DSEventLogger::onRadioCommunicationsChanged(bool connected)
{
LOG << "Radio communications set to" << connected;
m_radioCommsLog.append(qMakePair<qint64, bool>(currentTime(), connected));
m_radioCommsLog.append(QPair<qint64, bool>(currentTime(), connected));
}

/**
Expand All @@ -374,7 +374,7 @@ void DSEventLogger::onRadioCommunicationsChanged(bool connected)
void DSEventLogger::onRobotCommunicationsChanged(bool connected)
{
LOG << "Robot communications set to" << connected;
m_robotCommsLog.append(qMakePair<qint64, bool>(currentTime(), connected));
m_robotCommsLog.append(QPair<qint64, bool>(currentTime(), connected));
}

/**
Expand All @@ -383,7 +383,7 @@ void DSEventLogger::onRobotCommunicationsChanged(bool connected)
void DSEventLogger::onEmergencyStoppedChanged(bool emergencyStopped)
{
LOG << "ESTOP set to" << emergencyStopped;
m_emergencyStopLog.append(qMakePair<qint64, bool>(currentTime(), emergencyStopped));
m_emergencyStopLog.append(QPair<qint64, bool>(currentTime(), emergencyStopped));
}

/**
Expand All @@ -392,7 +392,7 @@ void DSEventLogger::onEmergencyStoppedChanged(bool emergencyStopped)
void DSEventLogger::onControlModeChanged(DriverStation::Control mode)
{
LOG << "Robot control mode set to" << mode;
m_controlModeLog.append(qMakePair<qint64, int>(currentTime(), (int)mode));
m_controlModeLog.append(QPair<qint64, int>(currentTime(), (int)mode));
}

/**
Expand Down