[wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)

- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints

wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java

@@ -0,0 +1,81 @@
+// 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 edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.PS4ControllerSim;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class PS4ControllerTest {
+  @ParameterizedTest
+  @EnumSource(value = PS4Controller.Button.class)
+  @SuppressWarnings({"VariableDeclarationUsageDistance"})
+  public void testButtons(PS4Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS4Controller joy = new PS4Controller(2);
+    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    // need to call pressed and released to clear flags
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = PS4Controller.Axis.class)
+  @SuppressWarnings({"VariableDeclarationUsageDistance"})
+  public void testAxes(PS4Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS4Controller joy = new PS4Controller(2);
+    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java

@@ -12,70 +12,25 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
 import java.lang.reflect.InvocationTargetException;
 import java.lang.reflect.Method;
-import java.util.stream.Stream;
-import org.junit.jupiter.api.Test;
 import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
+import org.junit.jupiter.params.provider.EnumSource;
 
 class XboxControllerTest {
-  @Test
-  void testGetX() {
-    HAL.initialize(500, 0);
-    XboxController joy = new XboxController(2);
-    XboxControllerSim joysim = new XboxControllerSim(joy);
-
-    joysim.setX(XboxController.Hand.kLeft, 0.35);
-    joysim.setX(XboxController.Hand.kRight, 0.45);
-    joysim.notifyNewData();
-    assertEquals(0.35, joy.getX(XboxController.Hand.kLeft), 0.001);
-    assertEquals(0.45, joy.getX(XboxController.Hand.kRight), 0.001);
-  }
-
-  @Test
-  void testGetY() {
-    HAL.initialize(500, 0);
-    XboxControllerSim joysim = new XboxControllerSim(2);
-
-    joysim.setY(XboxController.Hand.kLeft, 0.35);
-    joysim.setY(XboxController.Hand.kRight, 0.45);
-    joysim.notifyNewData();
-
-    XboxController joy = new XboxController(2);
-    assertEquals(0.35, joy.getY(XboxController.Hand.kLeft), 0.001);
-    assertEquals(0.45, joy.getY(XboxController.Hand.kRight), 0.001);
-  }
-
-  @Test
-  void testGetTrigger() {
-    HAL.initialize(500, 0);
-    XboxController joy = new XboxController(2);
-    XboxControllerSim joysim = new XboxControllerSim(joy);
-
-    joysim.setTriggerAxis(XboxController.Hand.kLeft, 0.35);
-    joysim.setTriggerAxis(XboxController.Hand.kRight, 0.45);
-    joysim.notifyNewData();
-    assertEquals(0.35, joy.getTriggerAxis(XboxController.Hand.kLeft), 0.001);
-    assertEquals(0.45, joy.getTriggerAxis(XboxController.Hand.kRight), 0.001);
-  }
-
-  private static Stream<String> getStandardButtonsArguments() {
-    return Stream.of("A", "B", "X", "Y", "Back", "Start");
-  }
-
   @ParameterizedTest
-  @MethodSource("getStandardButtonsArguments")
+  @EnumSource(value = XboxController.Button.class)
   @SuppressWarnings({"VariableDeclarationUsageDistance"})
-  public void testStandardButtons(String buttonName)
+  public void testButtons(XboxController.Button button)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
     XboxController joy = new XboxController(2);
     XboxControllerSim joysim = new XboxControllerSim(joy);
 
-    String simSetMethodName = "set" + buttonName + "Button";
-    String joyGetMethodName = "get" + buttonName + "Button";
-    String joyPressedMethodName = "get" + buttonName + "ButtonPressed";
-    String joyReleasedMethodName = "get" + buttonName + "ButtonReleased";
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
 
     Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
     Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
@@ -102,52 +57,25 @@ class XboxControllerTest {
     assertTrue((Boolean) joyReleasedMethod.invoke(joy));
   }
 
-  private static Stream<Arguments> getStickButtonsArguments() {
-    return Stream.of(
-        Arguments.of(GenericHID.Hand.kLeft, "Bumper"),
-        Arguments.of(GenericHID.Hand.kRight, "Bumper"),
-        Arguments.of(GenericHID.Hand.kLeft, "StickButton"),
-        Arguments.of(GenericHID.Hand.kRight, "StickButton"));
-  }
-
   @ParameterizedTest
-  @MethodSource("getStickButtonsArguments")
+  @EnumSource(value = XboxController.Axis.class)
   @SuppressWarnings({"VariableDeclarationUsageDistance"})
-  public void testStickButtons(GenericHID.Hand hand, String buttonName)
+  public void testAxes(XboxController.Axis axis)
       throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
     HAL.initialize(500, 0);
     XboxController joy = new XboxController(2);
     XboxControllerSim joysim = new XboxControllerSim(joy);
 
-    String simSetMethodName = "set" + buttonName;
-    String joyGetMethodName = "get" + buttonName;
-    String joyPressedMethodName = "get" + buttonName + "Pressed";
-    String joyReleasedMethodName = "get" + buttonName + "Released";
+    var axisName = axis.toString();
 
-    Method simSetMethod =
-        joysim.getClass().getMethod(simSetMethodName, GenericHID.Hand.class, boolean.class);
-    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName, GenericHID.Hand.class);
-    Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName, GenericHID.Hand.class);
-    Method joyReleasedMethod =
-        joy.getClass().getMethod(joyReleasedMethodName, GenericHID.Hand.class);
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
 
-    simSetMethod.invoke(joysim, hand, false);
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
     joysim.notifyNewData();
-    assertFalse((Boolean) joyGetMethod.invoke(joy, hand));
-    // need to call pressed and released to clear flags
-    joyPressedMethod.invoke(joy, hand);
-    joyReleasedMethod.invoke(joy, hand);
-
-    simSetMethod.invoke(joysim, hand, true);
-    joysim.notifyNewData();
-    assertTrue((Boolean) joyGetMethod.invoke(joy, hand));
-    assertTrue((Boolean) joyPressedMethod.invoke(joy, hand));
-    assertFalse((Boolean) joyReleasedMethod.invoke(joy, hand));
-
-    simSetMethod.invoke(joysim, hand, false);
-    joysim.notifyNewData();
-    assertFalse((Boolean) joyGetMethod.invoke(joy, hand));
-    assertFalse((Boolean) joyPressedMethod.invoke(joy, hand));
-    assertTrue((Boolean) joyReleasedMethod.invoke(joy, hand));
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
   }
 }