[wpilib] Remove UserControls (#8973)

It was too complex, and we can solve it by figuring out how to make
singleton GenericHID objects, implemented in #8970.

developerRobot/src/main/java/wpilib/robot/DefaultTeleMode.java

@@ -4,7 +4,6 @@
 
 package wpilib.robot;
 
-import org.wpilib.driverstation.DefaultUserControls;
 import org.wpilib.opmode.PeriodicOpMode;
 import org.wpilib.opmode.Teleop;
 
@@ -13,12 +12,8 @@ public class DefaultTeleMode extends PeriodicOpMode {
   @SuppressWarnings("unused")
   private final OpRobot robot;
 
-  @SuppressWarnings("unused")
-  private final DefaultUserControls userControls;
-
-  public DefaultTeleMode(OpRobot robot, DefaultUserControls userControls) {
+  public DefaultTeleMode(OpRobot robot) {
     this.robot = robot;
-    this.userControls = userControls;
   }
 
   @Override

developerRobot/src/main/java/wpilib/robot/OpRobot.java

@@ -4,12 +4,9 @@
 
 package wpilib.robot;
 
-import org.wpilib.driverstation.DefaultUserControls;
-import org.wpilib.driverstation.UserControlsInstance;
 import org.wpilib.framework.OpModeRobot;
 
 /** This is a dev program for testing OpModeRobot. */
-@UserControlsInstance(DefaultUserControls.class)
 public class OpRobot extends OpModeRobot {
   /** Called once at the beginning of the robot program. */
   public OpRobot() {}

wpilibj/src/main/java/org/wpilib/driverstation/DefaultUserControls.java

@@ -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];
-  }
-}

wpilibj/src/main/java/org/wpilib/driverstation/UserControls.java

@@ -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 {}

wpilibj/src/main/java/org/wpilib/driverstation/UserControlsInstance.java

@@ -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();
-}

wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java

@@ -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();

wpilibj/src/main/java/org/wpilib/framework/RobotBase.java

@@ -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;
   }
 

wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/DefaultTeleMode.java

@@ -4,27 +4,28 @@
 
 package org.wpilib.examples.expansionhubsample;
 
-import org.wpilib.driverstation.DefaultUserControls;
+import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.Gamepad;
 import org.wpilib.opmode.PeriodicOpMode;
 import org.wpilib.opmode.Teleop;
 
 @Teleop
 public class DefaultTeleMode extends PeriodicOpMode {
   private final Robot robot;
-  private final DefaultUserControls userControls;
+  private final Gamepad gamepad;
 
-  public DefaultTeleMode(Robot robot, DefaultUserControls userControls) {
+  public DefaultTeleMode(Robot robot) {
     this.robot = robot;
-    this.userControls = userControls;
+    this.gamepad = DriverStation.getGamepad(0);
   }
 
   @Override
   public void periodic() {
-    robot.motor0.setThrottle(-userControls.getGamepad(0).getLeftY());
-    robot.motor1.setThrottle(-userControls.getGamepad(0).getRightY());
-    robot.motor2.setThrottle(-userControls.getGamepad(0).getLeftX());
-    robot.motor3.setThrottle(-userControls.getGamepad(0).getRightX());
-    robot.servo0.setPosition(userControls.getGamepad(0).getLeftTriggerAxis());
-    robot.servo1.setPosition(userControls.getGamepad(0).getRightTriggerAxis());
+    robot.motor0.setThrottle(-gamepad.getLeftY());
+    robot.motor1.setThrottle(-gamepad.getRightY());
+    robot.motor2.setThrottle(-gamepad.getLeftX());
+    robot.motor3.setThrottle(-gamepad.getRightX());
+    robot.servo0.setPosition(gamepad.getLeftTriggerAxis());
+    robot.servo1.setPosition(gamepad.getRightTriggerAxis());
   }
 }

wpilibjExamples/src/main/java/org/wpilib/examples/expansionhubsample/Robot.java

@@ -4,8 +4,6 @@
 
 package org.wpilib.examples.expansionhubsample;
 
-import org.wpilib.driverstation.DefaultUserControls;
-import org.wpilib.driverstation.UserControlsInstance;
 import org.wpilib.framework.OpModeRobot;
 import org.wpilib.hardware.expansionhub.ExpansionHubMotor;
 import org.wpilib.hardware.expansionhub.ExpansionHubServo;
@@ -14,7 +12,6 @@ import org.wpilib.hardware.expansionhub.ExpansionHubServo;
  * This is a demo program showing the use of the Expansion Hub motors and servos. The motors and
  * servos are driven using the controllers in the telop opmode, and timed in the auto op mode.
  */
-@UserControlsInstance(DefaultUserControls.class)
 public class Robot extends OpModeRobot {
   public final ExpansionHubMotor motor0 = new ExpansionHubMotor(0, 0);
   public final ExpansionHubMotor motor1 = new ExpansionHubMotor(0, 1);

wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java

@@ -106,57 +106,17 @@ class ConstructorMatchTest {
   // Since this is built for opmodes, we're going to write tests that assume that
   // scenario.
 
-  public interface UserControls {}
-
-  public static class DefaultUserControls implements UserControls {}
-
-  public static class CustomUserControls implements UserControls {}
-
   public static class RobotBase {}
 
-  public static class RobotWithNoUserControls extends RobotBase {}
+  public static class BasicRobot extends RobotBase {}
 
-  public static class RobotWithDefaultUserControls extends RobotBase {
-    public RobotWithDefaultUserControls(DefaultUserControls controls) {}
-  }
+  public static class CustomRobot extends RobotBase {}
 
   @Test
-  void testRobotWithDefaultUserControls() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(
-            RobotWithDefaultUserControls.class, DefaultUserControls.class);
+  void testRobotNoArgs() throws ReflectiveOperationException {
+    var ctor = ConstructorMatch.findBestConstructor(BasicRobot.class);
     assertTrue(ctor.isPresent());
-    ctor.get().newInstance(new DefaultUserControls());
-    assertThrows(
-        IllegalArgumentException.class, () -> ctor.get().newInstance(new CustomUserControls()));
-  }
-
-  public static class RobotWithCustomUserControls extends RobotBase {
-    public RobotWithCustomUserControls(CustomUserControls controls) {}
-  }
-
-  @Test
-  void testRobotWithCustomUserControls() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(
-            RobotWithCustomUserControls.class, CustomUserControls.class);
-    assertTrue(ctor.isPresent());
-    ctor.get().newInstance(new CustomUserControls());
-    assertThrows(
-        IllegalArgumentException.class, () -> ctor.get().newInstance(new DefaultUserControls()));
-  }
-
-  public static class RobotWithUserControls extends RobotBase {
-    public RobotWithUserControls(UserControls controls) {}
-  }
-
-  @Test
-  void testRobotWithUserControls() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(RobotWithUserControls.class, UserControls.class);
-    assertTrue(ctor.isPresent());
-    ctor.get().newInstance(new DefaultUserControls());
-    ctor.get().newInstance(new CustomUserControls());
+    ctor.get().newInstance();
   }
 
   public static class OpModeWithRobotBase {
@@ -167,108 +127,85 @@ class ConstructorMatchTest {
   void testOpModeWithRobotBase() throws ReflectiveOperationException {
     var ctor = ConstructorMatch.findBestConstructor(OpModeWithRobotBase.class, RobotBase.class);
     assertTrue(ctor.isPresent());
-    var defaultUserControls = new DefaultUserControls();
-    var customUserControls = new CustomUserControls();
-    ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
-    ctor.get()
-        .newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
-    ctor.get().newInstance(new RobotWithCustomUserControls(customUserControls), customUserControls);
-    ctor.get().newInstance(new RobotWithUserControls(defaultUserControls), defaultUserControls);
+    ctor.get().newInstance(new RobotBase());
+    ctor.get().newInstance(new BasicRobot());
+    ctor.get().newInstance(new CustomRobot());
   }
 
-  public static class OpModeWithRobotWithNoUserControls {
-    public OpModeWithRobotWithNoUserControls(RobotWithNoUserControls robot) {}
+  public static class OpModeWithBasicRobot {
+    public OpModeWithBasicRobot(BasicRobot robot) {}
   }
 
   @Test
-  void testOpModeWithRobotWithNoUserControls() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(
-            OpModeWithRobotWithNoUserControls.class, RobotWithNoUserControls.class);
+  void testOpModeWithBasicRobot() throws ReflectiveOperationException {
+    var ctor = ConstructorMatch.findBestConstructor(OpModeWithBasicRobot.class, BasicRobot.class);
     assertTrue(ctor.isPresent());
-    var defaultUserControls = new DefaultUserControls();
-    ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
+    ctor.get().newInstance(new BasicRobot());
+    assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(new RobotBase()));
+    assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(new CustomRobot()));
   }
 
-  public static class OpModeWithRobotWithDefaultUserControls {
-    public OpModeWithRobotWithDefaultUserControls(RobotWithDefaultUserControls robot) {}
+  public static class OpModeWithMultipleRobotConstructors {
+    public OpModeWithMultipleRobotConstructors(RobotBase robot) {}
 
-    public OpModeWithRobotWithDefaultUserControls(
-        RobotWithDefaultUserControls robot, DefaultUserControls controls) {}
+    public OpModeWithMultipleRobotConstructors(BasicRobot robot) {}
 
-    public OpModeWithRobotWithDefaultUserControls(DefaultUserControls controls) {}
+    public OpModeWithMultipleRobotConstructors() {}
   }
 
   @Test
-  void testOpModeWithRobotWithDefaultUserControlsRobotArg() throws ReflectiveOperationException {
+  void testOpModeWithMultipleRobotConstructorsRobotArg() throws ReflectiveOperationException {
     var ctor =
         ConstructorMatch.findBestConstructor(
-            OpModeWithRobotWithDefaultUserControls.class, RobotWithDefaultUserControls.class);
+            OpModeWithMultipleRobotConstructors.class, BasicRobot.class);
     assertTrue(ctor.isPresent());
-    var defaultUserControls = new DefaultUserControls();
-    ctor.get()
-        .newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
+    var parameterTypes = ctor.get().getParameterTypes();
+    assertEquals(BasicRobot.class, parameterTypes.get(0));
+    ctor.get().newInstance(new BasicRobot());
   }
 
   @Test
-  void testOpModeWithRobotWithDefaultUserControlsControlsArg() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(
-            OpModeWithRobotWithDefaultUserControls.class, DefaultUserControls.class);
+  void testOpModeWithMultipleRobotConstructorsNoArgs() throws ReflectiveOperationException {
+    var ctor = ConstructorMatch.findBestConstructor(OpModeWithMultipleRobotConstructors.class);
     assertTrue(ctor.isPresent());
-    var defaultUserControls = new DefaultUserControls();
-    ctor.get()
-        .newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
+    ctor.get().newInstance();
   }
 
-  @Test
-  void testOpModeWithRobotWithDefaultUserControlsNoArgs() throws ReflectiveOperationException {
-    var ctor =
-        ConstructorMatch.findBestConstructor(
-            OpModeWithRobotWithDefaultUserControls.class,
-            RobotWithDefaultUserControls.class,
-            DefaultUserControls.class);
-    assertTrue(ctor.isPresent());
-    var defaultUserControls = new DefaultUserControls();
-    ctor.get()
-        .newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
-  }
+  public static class ModeBase {}
+
+  public static class DefaultMode extends ModeBase {}
 
   public static class MostSpecificFirstArg {
-    public MostSpecificFirstArg(RobotBase robot, DefaultUserControls controls) {}
+    public MostSpecificFirstArg(RobotBase robot, DefaultMode mode) {}
 
-    public MostSpecificFirstArg(RobotWithDefaultUserControls robot, UserControls controls) {}
+    public MostSpecificFirstArg(BasicRobot robot, ModeBase mode) {}
   }
 
   @Test
   void testMostSpecificFirstArg() throws ReflectiveOperationException {
     var ctor =
         ConstructorMatch.findBestConstructor(
-            MostSpecificFirstArg.class,
-            RobotWithDefaultUserControls.class,
-            DefaultUserControls.class);
+            MostSpecificFirstArg.class, BasicRobot.class, DefaultMode.class);
     assertTrue(ctor.isPresent());
     var parameterTypes = ctor.get().getParameterTypes();
-    assertEquals(RobotWithDefaultUserControls.class, parameterTypes.get(0));
-    assertEquals(UserControls.class, parameterTypes.get(1));
+    assertEquals(BasicRobot.class, parameterTypes.get(0));
+    assertEquals(ModeBase.class, parameterTypes.get(1));
   }
 
   public static class MostSpecificSecondArg {
-    public MostSpecificSecondArg(RobotBase robot, DefaultUserControls controls) {}
+    public MostSpecificSecondArg(RobotBase robot, DefaultMode mode) {}
 
-    public MostSpecificSecondArg(RobotBase robot, UserControls controls) {}
+    public MostSpecificSecondArg(RobotBase robot, ModeBase mode) {}
   }
 
   @Test
   void testMostSpecificSecondArg() throws ReflectiveOperationException {
     var ctor =
         ConstructorMatch.findBestConstructor(
-            MostSpecificSecondArg.class,
-            RobotWithDefaultUserControls.class,
-            DefaultUserControls.class);
+            MostSpecificSecondArg.class, BasicRobot.class, DefaultMode.class);
     assertTrue(ctor.isPresent());
     var parameterTypes = ctor.get().getParameterTypes();
     assertEquals(RobotBase.class, parameterTypes.get(0));
-    assertEquals(DefaultUserControls.class, parameterTypes.get(1));
+    assertEquals(DefaultMode.class, parameterTypes.get(1));
   }
 }