allwpilib/commandsv2/src/generate/main/python/first_ds_commandhid.py.jinja

# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY

from typing import Optional

from wpilib import EventLoop, {{ ClassName }}Controller

from .commandgenerichid import CommandGenericHID
from .trigger import Trigger


def _enum_value(value) -> int:
    try:
        return int(value)
    except TypeError:
        return value.value


class Command{{ ClassName }}Controller:
    """
    A version of :class:`wpilib.{{ ClassName }}Controller` with :class:`.Trigger` factories for command-based.
    """

    _hid: CommandGenericHID
    _controller: {{ ClassName }}Controller

    def __init__(self, port: int):
        """
        Construct an instance of a controller.

        :param port: The port index on the Driver Station that the controller is plugged into.
        """
        self._hid = CommandGenericHID.getCommandGenericHID(port)
        self._controller = {{ ClassName }}Controller(self._hid.getHID())

    def __getattr__(self, name: str):
        return getattr(self._hid, name)

    def getHID(self) -> CommandGenericHID:
        """
        Get the underlying CommandGenericHID object.

        :returns: the wrapped CommandGenericHID object
        """
        return self._hid

    def getController(self) -> {{ ClassName }}Controller:
        """
        Get the wrapped controller object.

        :returns: the wrapped controller object
        """
        return self._controller
{% for button in buttons %}
    def {{ button.Name }}(self, loop: Optional[EventLoop] = None) -> Trigger:
        """
        Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.

        :param loop: the event loop instance to attach the Trigger to, defaults
                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`

        :returns: a Trigger instance representing the {{ button.DocName }} button's digital signal
                  attached to the given loop.
        """
        return self._hid.button(
            _enum_value({{ ClassName }}Controller.Button.{{ button.ConstantName }}), loop
        )
{% endfor -%}
{% for trigger in triggerAxes %}
    def {{ trigger.Name }}(
        self,
        threshold: float{% if trigger.HasDefaultThresholdMethod %} = 0.5{% endif %},
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs a Trigger instance around the {{ trigger.DocName }} axis value. The returned
        Trigger will be true when the axis value is greater than ``threshold``.

        :param threshold: the minimum axis value for the returned Trigger to be true. This value
                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
        :param loop: the event loop instance to attach the Trigger to, defaults
                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`

        :returns: a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the
                  provided threshold, attached to the given event loop.
        """
        return self._hid.axisGreaterThan(
            _enum_value({{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }}),
            threshold,
            loop,
        )
{% endfor -%}
{% for axis in axes %}
    def get{{ axis.MethodName }}(self) -> float:
        """
        Get the {{ axis.DocName }} value of the controller.

        :returns: the axis value.
        """
        return self._controller.get{{ axis.MethodName }}()
{% endfor -%}