allwpilib/wpilibj/src/generate/main/java/hid.java.jinja

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
{% macro capitalize_first(string) -%}
{{ string[0]|capitalize + string[1:] }}
{%- endmacro %}
package edu.wpi.first.wpilibj;

{{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
{{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;

/**
 * Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
 *
 * <p>This class handles {{ ConsoleName }} input that comes from the Driver Station. Each time a value is
 * requested the most recent value is returned. There is a single class instance for each controller
 * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
 *
 * <p>Only first party controllers from {{ Manufacturer }} are guaranteed to have the correct mapping, and
 * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
 * 3rd party controllers.
 */
public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
  /** Represents a digital button on a {{ ConsoleName }}Controller. */
  public enum Button {
{%- for button in buttons %}
    /** {{ capitalize_first(button.DocName|default(button.name))  }} button. */
    k{{ capitalize_first(button.name) }}({{ button.value }}){{ ";" if loop.last else ","}}
{%- endfor %}

    /** Button value. */
    public final int value;

    Button(int value) {
      this.value = value;
    }

    /**
     * Get the human-friendly name of the button, matching the relevant methods. This is done by
     * stripping the leading `k`, and appending `Button`.
     *
     * <p>Primarily used for automated unit tests.
     *
     * @return the human-friendly name of the button.
     */
    @Override
    public String toString() {
      // Remove leading `k`
      return this.name().substring(1) + "Button";
    }
  }

  /** Represents an axis on an {{ ConsoleName }}Controller. */
  public enum Axis {
{%- for stick in sticks %}
    /** {{ stick.NameParts|map("capitalize")|join(" ") }} axis. */
    k{{ stick.NameParts|map("capitalize")|join }}({{ stick.value }}){{ "," if triggers|length > 0 or not loop.last else ";"}}
{%- endfor %}
{%- for trigger in triggers %}
    /** {{ trigger.DocName|capitalize }}. */
    k{{ capitalize_first(trigger.name) }}({{ trigger.value }}){{ ";" if loop.last else ","}}
{%- endfor %}

    /** Axis value. */
    public final int value;

    Axis(int value) {
      this.value = value;
    }

    /**
     * Get the human-friendly name of the axis, matching the relevant methods. This is done by
     * stripping the leading `k`, and appending `Axis` if the name ends with `{{ AxisNameSuffix }}`.
     *
     * <p>Primarily used for automated unit tests.
     *
     * @return the human-friendly name of the axis.
     */
    @Override
    public String toString() {
      var name = this.name().substring(1); // Remove leading `k`
      if (name.endsWith("{{ AxisNameSuffix }}")) {
        return name + "Axis";
      }
      return name;
    }
  }

  /**
   * Construct an instance of a controller.
   *
   * @param port The port index on the Driver Station that the controller is plugged into (0-5).
   */
  public {{ ConsoleName }}Controller(final int port) {
    super(port);
    {{ "// " if SkipReporting }}HAL.report(tResourceType.kResourceType_{{ ConsoleName }}Controller, port + 1);
  }
{% for stick in sticks %}
  /**
   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
   *
   * @return The axis value.
   */
  public double get{{ stick.NameParts|map("capitalize")|join }}() {
    return getRawAxis(Axis.k{{ stick.NameParts|map("capitalize")|join }}.value);
  }
{% endfor -%}
{% for trigger in triggers %}
  /**
   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis is bound to the
   * range of [0, 1] as opposed to the usual [-1, 1].
   *
   * @return The axis value.
   */
  public double get{{ capitalize_first(trigger.name) }}Axis() {
    return getRawAxis(Axis.k{{ capitalize_first(trigger.name) }}.value);
  }
{% if trigger.UseThresholdMethods %}
  /**
   * Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
   * will be true when the axis value is greater than {@code threshold}.
   *
   * @param threshold the minimum axis value for the returned {@link BooleanEvent} 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 event to.
   * @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
   *     threshold, attached to the given event loop
   */
  public BooleanEvent {{ trigger.name }}(double threshold, EventLoop loop) {
    return axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
  }

  /**
   * Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
   * will be true when the axis value is greater than 0.5.
   *
   * @param loop the event loop instance to attach the event to.
   * @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
   *     threshold, attached to the given event loop
   */
  public BooleanEvent {{ trigger.name }}(EventLoop loop) {
    return {{ trigger.name }}(0.5, loop);
  }
{% endif -%}
{% endfor -%}
{% for button in buttons %}
  /**
   * Read the value of the {{ button.DocName|default(button.name) }} button on the controller.
   *
   * @return The state of the button.
   */
  public boolean get{{ capitalize_first(button.name) }}Button() {
    return getRawButton(Button.k{{ capitalize_first(button.name) }}.value);
  }

  /**
   * Whether the {{ button.DocName|default(button.name) }} button was pressed since the last check.
   *
   * @return Whether the button was pressed since the last check.
   */
  public boolean get{{ capitalize_first(button.name) }}ButtonPressed() {
    return getRawButtonPressed(Button.k{{ capitalize_first(button.name) }}.value);
  }

  /**
   * Whether the {{ button.DocName|default(button.name) }} button was released since the last check.
   *
   * @return Whether the button was released since the last check.
   */
  public boolean get{{ capitalize_first(button.name) }}ButtonReleased() {
    return getRawButtonReleased(Button.k{{ capitalize_first(button.name) }}.value);
  }

  /**
   * Constructs an event instance around the {{ button.DocName|default(button.name) }} button's digital signal.
   *
   * @param loop the event loop instance to attach the event to.
   * @return an event instance representing the {{ button.DocName|default(button.name) }} button's digital signal
   *     attached to the given loop.
   */
  public BooleanEvent {{ button.name }}(EventLoop loop) {
    return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
  }
{% endfor -%}
{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
  /**
   * Read the value of the left bumper (LB) button on the controller.
   *
   * @return The state of the button.
   * @deprecated Use {@link getLeftBumperButton} instead. This function is deprecated for removal
   *     to make function names consistent to allow the HID classes to be automatically generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getLeftBumper() {
    return getRawButton(Button.kLeftBumper.value);
  }

  /**
   * Read the value of the right bumper (RB) button on the controller.
   *
   * @return The state of the button.
   * @deprecated Use {@link getRightBumperButton} instead. This function is deprecated for removal
   *     to make function names consistent to allow the HID classes to be automatically generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getRightBumper() {
    return getRawButton(Button.kRightBumper.value);
  }

  /**
   * Whether the left bumper (LB) was pressed since the last check.
   *
   * @return Whether the button was pressed since the last check.
   * @deprecated Use {@link getLeftBumperButtonPressed} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getLeftBumperPressed() {
    return getRawButtonPressed(Button.kLeftBumper.value);
  }

  /**
   * Whether the right bumper (RB) was pressed since the last check.
   *
   * @return Whether the button was pressed since the last check.
   * @deprecated Use {@link getRightBumperButtonPressed} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getRightBumperPressed() {
    return getRawButtonPressed(Button.kRightBumper.value);
  }

  /**
   * Whether the left bumper (LB) was released since the last check.
   *
   * @return Whether the button was released since the last check.
   * @deprecated Use {@link getLeftBumperButtonReleased} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getLeftBumperReleased() {
    return getRawButtonReleased(Button.kLeftBumper.value);
  }

  /**
   * Whether the right bumper (RB) was released since the last check.
   *
   * @return Whether the button was released since the last check.
   * @deprecated Use {@link getRightBumperButtonReleased} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getRightBumperReleased() {
    return getRawButtonReleased(Button.kRightBumper.value);
  }
{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
  /**
   * Read the value of the touchpad on the controller.
   *
   * @return The state of the touchpad.
   * @deprecated Use {@link getTouchpadButton} instead. This function is deprecated for removal to
   *     make function names consistent to allow the HID classes to be automatically generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getTouchpad() {
    return getRawButton(Button.kTouchpad.value);
  }

  /**
   * Whether the touchpad was pressed since the last check.
   *
   * @return Whether the touchpad was pressed since the last check.
   * @deprecated Use {@link getTouchpadButtonPressed} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getTouchpadPressed() {
    return getRawButtonPressed(Button.kTouchpad.value);
  }

  /**
   * Whether the touchpad was released since the last check.
   *
   * @return Whether the touchpad was released since the last check.
   * @deprecated Use {@link getTouchpadButtonReleased} instead. This function is deprecated for
   *     removal to make function names consistent to allow the HID classes to be automatically
   *     generated.
   */
  @Deprecated(since = "2025", forRemoval = true)
  public boolean getTouchpadReleased() {
    return getRawButtonReleased(Button.kTouchpad.value);
  }
{%- endif %}

  @Override
  public void initSendable(SendableBuilder builder) {
    builder.setSmartDashboardType("HID");
    builder.publishConstString("ControllerType", "{{ ConsoleName }}");
{%- for trigger in triggers %}
    builder.addDoubleProperty("{{ capitalize_first(trigger.name) }}", this::get{{ capitalize_first(trigger.name) }}Axis, null);
{%- endfor -%}
{% for stick in sticks %}
    builder.addDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", this::get{{ stick.NameParts|map("capitalize")|join }}, null);
{%- endfor -%}
{% for button in buttons %}
    builder.addBooleanProperty("{{ capitalize_first(button.name) }}", this::get{{ capitalize_first(button.name) }}Button, null);
{%- endfor %}
  }
}