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[wpilib] Remove UserControls (#8973)

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It was too complex, and we can solve it by figuring out how to make
singleton GenericHID objects, implemented in #8970.
This commit is contained in:
Thad House
2026-06-11 15:33:51 -07:00
committed by GitHub
parent c647e67de0
commit 025732093f
10 changed files with 55 additions and 267 deletions
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33
wpilibj/src/main/java/org/wpilib/driverstation/DefaultUserControls.java
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@@ -1,33 +0,0 @@
// 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.
package org.wpilib.driverstation;
import org.wpilib.driverstation.internal.DriverStationBackend;
/**
* A default implementation of UserControls that provides Gamepad instances for each of the 6
* joystick ports provided by the DS.
*/
public class DefaultUserControls implements UserControls {
private final Gamepad[] m_gamepads;
/** Constructs a DefaultUserControls instance with Gamepads for each port. */
public DefaultUserControls() {
m_gamepads = new Gamepad[DriverStationBackend.JOYSTICK_PORTS];
for (int i = 0; i < m_gamepads.length; i++) {
m_gamepads[i] = new Gamepad(i);
}
}
/**
* Returns the Gamepad instance for the specified port.
*
* @param port The joystick port number.
* @return The Gamepad instance for the given port.
*/
public Gamepad getGamepad(int port) {
return m_gamepads[port];
}
}

15
wpilibj/src/main/java/org/wpilib/driverstation/UserControls.java
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@@ -1,15 +0,0 @@
// 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.
package org.wpilib.driverstation;
/**
* An interface representing user controls such as gamepads or joysticks. If your main robot class
* has a UserControlsInstance attribute with a class implementing this interface, the constructor is
* able to receive an instance of that class. Additionally, any OpModes can also receive that same
* instance.
*
* <p>The implementation of this class must have a default constructor
*/
public interface UserControls {}

26
wpilibj/src/main/java/org/wpilib/driverstation/UserControlsInstance.java
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@@ -1,26 +0,0 @@
// 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.
package org.wpilib.driverstation;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
/**
* An annotation to specify the UserControls implementation class to be used for a robot. Apply this
* annotation to your main robot class, providing a class that implements the UserControls
* interface.
*/
@Target(ElementType.TYPE)
@Retention(RetentionPolicy.RUNTIME)
public @interface UserControlsInstance {
/**
* The UserControls implementation class to be used.
*
* @return The class that implements UserControls.
*/
Class<? extends UserControls> value();
}

49
wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
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@@ -24,8 +24,6 @@ import java.util.jar.JarFile;
import org.wpilib.driverstation.Alert;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.UserControls;
import org.wpilib.driverstation.UserControlsInstance;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
@@ -90,23 +88,6 @@ public abstract class OpModeRobot extends RobotBase {
"Error adding OpMode " + cls.getSimpleName() + ": " + message, false);
}
private final Optional<Class<? extends UserControls>> m_userControlsBaseClass;
private UserControls m_userControlsInstance;
void setUserControlsInstance(UserControls userControlsInstance) {
if (m_userControlsBaseClass.isEmpty()) {
throw new IllegalStateException("No UserControls class specified");
}
if (!m_userControlsBaseClass.get().isAssignableFrom(userControlsInstance.getClass())) {
throw new IllegalArgumentException(
userControlsInstance.getClass().getSimpleName()
+ " is not assignable to "
+ m_userControlsBaseClass.get().getSimpleName());
}
m_userControlsInstance = userControlsInstance;
}
/**
* Find a public constructor to instantiate the opmode. This constructor can have up to 2
* parameters. The first parameter (if present) must be assignable from this.getClass(). The
@@ -116,28 +97,12 @@ public abstract class OpModeRobot extends RobotBase {
private <T> Optional<ConstructorMatch<T>> findOpModeConstructor(Class<T> cls) {
Optional<ConstructorMatch<T>> ctor;
// try 2-parameter constructor
if (m_userControlsBaseClass.isPresent()) {
ctor = ConstructorMatch.findBestConstructor(cls, getClass(), m_userControlsBaseClass.get());
if (ctor.isPresent()) {
return ctor;
}
}
// try 1-parameter constructor with RobotBase parameter
ctor = ConstructorMatch.findBestConstructor(cls, getClass());
if (ctor.isPresent()) {
return ctor;
}
// try 1-parameter constructor with UserControls parameter
if (m_userControlsBaseClass.isPresent()) {
ctor = ConstructorMatch.findBestConstructor(cls, m_userControlsBaseClass.get());
if (ctor.isPresent()) {
return ctor;
}
}
// try no-parameter constructor
ctor = ConstructorMatch.findBestConstructor(cls);
return ctor;
@@ -151,11 +116,7 @@ public abstract class OpModeRobot extends RobotBase {
return null;
}
try {
if (m_userControlsInstance != null) {
return constructor.get().newInstance(this, m_userControlsInstance);
} else {
return constructor.get().newInstance(this);
}
return constructor.get().newInstance(this);
} catch (ReflectiveOperationException e) {
DriverStationErrors.reportError(
"Could not instantiate OpMode " + cls.getSimpleName(), e.getStackTrace());
@@ -564,14 +525,6 @@ public abstract class OpModeRobot extends RobotBase {
// Add LoopFunc as periodic callback (match C++)
addPeriodic(this::loopFunc, period);
// Check to see if we have a DS annotation
UserControlsInstance userControlsAnnotation =
getClass().getAnnotation(UserControlsInstance.class);
if (userControlsAnnotation != null) {
m_userControlsBaseClass = Optional.of(userControlsAnnotation.value());
} else {
m_userControlsBaseClass = Optional.empty();
}
// Scan for annotated opmode classes within the derived class's package and subpackages
addAnnotatedOpModeClasses(getClass().getPackage());
RobotState.publishOpModes();

24
wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
View File

@@ -8,8 +8,6 @@ import java.util.Optional;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.UserControls;
import org.wpilib.driverstation.UserControlsInstance;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
@@ -291,32 +289,16 @@ public abstract class RobotBase implements AutoCloseable {
private static boolean m_suppressExitWarning;
private static <T extends RobotBase> T constructRobot(Class<T> robotClass) throws Throwable {
UserControlsInstance userControlsAttribute =
robotClass.getDeclaredAnnotation(UserControlsInstance.class);
UserControls userControlsInstance = null;
Optional<ConstructorMatch<T>> constructorMatch = Optional.empty();
if (userControlsAttribute != null) {
var userControlsClass = userControlsAttribute.value();
userControlsInstance = userControlsClass.getDeclaredConstructor().newInstance();
constructorMatch = ConstructorMatch.findBestConstructor(robotClass, userControlsClass);
}
if (constructorMatch.isEmpty()) {
// Try to find a constructor with no parameters if there is no UserControls constructor
constructorMatch = ConstructorMatch.findBestConstructor(robotClass);
}
Optional<ConstructorMatch<T>> constructorMatch =
ConstructorMatch.findBestConstructor(robotClass);
if (constructorMatch.isEmpty()) {
throw new IllegalArgumentException(
"No valid constructor found in robot class " + robotClass.getName());
}
T robot = constructorMatch.get().newInstance(userControlsInstance);
T robot = constructorMatch.get().newInstance();
if (userControlsInstance != null && robot instanceof OpModeRobot opModeRobot) {
// Insert the UserControls instance into the opModeRobot for use when constructing opmodes
opModeRobot.setUserControlsInstance(userControlsInstance);
}
return robot;
}