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[commands] Replace Command HID inheritance with delegation (#4470)

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This commit is contained in:
Starlight220
2022-10-23 22:09:44 +03:00
committed by GitHub
parent 9e1f9c1133
commit 09faf31b67
13 changed files with 1201 additions and 101 deletions
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45
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
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@@ -9,3 +9,48 @@ using namespace frc2;
Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
}
Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
return POV(0, angle, loop);
}
Trigger CommandGenericHID::POV(int pov, int angle, frc::EventLoop* loop) const {
return Trigger(loop,
[this, pov, angle] { return this->GetPOV(pov) == angle; });
}
Trigger CommandGenericHID::POVUp(frc::EventLoop* loop) const {
return POV(0, loop);
}
Trigger CommandGenericHID::POVUpRight(frc::EventLoop* loop) const {
return POV(45, loop);
}
Trigger CommandGenericHID::POVRight(frc::EventLoop* loop) const {
return POV(90, loop);
}
Trigger CommandGenericHID::POVDownRight(frc::EventLoop* loop) const {
return POV(135, loop);
}
Trigger CommandGenericHID::POVDown(frc::EventLoop* loop) const {
return POV(180, loop);
}
Trigger CommandGenericHID::POVDownLeft(frc::EventLoop* loop) const {
return POV(225, loop);
}
Trigger CommandGenericHID::POVLeft(frc::EventLoop* loop) const {
return POV(270, loop);
}
Trigger CommandGenericHID::POVUpLeft(frc::EventLoop* loop) const {
return POV(315, loop);
}
Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
return POV(360, loop);
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
View File

@@ -6,6 +6,10 @@
using namespace frc2;
Trigger CommandPS4Controller::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
return PS4Controller::Square(loop).CastTo<Trigger>();
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
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@@ -6,6 +6,10 @@
using namespace frc2;
Trigger CommandXboxController::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
}
Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
return XboxController::LeftBumper(loop).CastTo<Trigger>();
}

148
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
View File

@@ -31,5 +31,153 @@ class CommandGenericHID : public frc::GenericHID {
Trigger Button(int button,
frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around this angle of a POV on the HID.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise
* (eg right is 90, upper-left is 315).
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @param angle POV angle in degrees, or -1 for the center / not pressed.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(int angle,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around this angle of a POV on the HID.
*
* <p>The POV angles start at 0 in the up direction, and increase clockwise
* (eg right is 90, upper-left is 315).
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @param pov index of the POV to read (starting at 0). Defaults to 0.
* @param angle POV angle in degrees, or -1 for the center / not pressed.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(int pov, int angle,
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 0-degree angle (up) of the
* default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVUp(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 45-degree angle (right up)
* of the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVUpRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 90-degree angle (right) of
* the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVRight(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 135-degree angle (right
* down) of the default (index 0) POV on the HID.
*
* @return a Trigger instance based around the 135-degree angle of a POV on
* the HID.
*/
Trigger POVDownRight(
frc::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 180-degree angle (down) of
* the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVDown(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 225-degree angle (down left)
* of the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVDownLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 270-degree angle (left) of
* the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the 315-degree angle (left up)
* of the default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVUpLeft(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs a Trigger instance based around the center (not pressed) of the
* default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to. Defaults to
* {@link CommandScheduler::GetDefaultButtonLoop() the default command
* scheduler button loop}.
* @return a Trigger instance based around the 90-degree angle of a POV on the
* HID.
*/
Trigger POVCenter(frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
};
} // namespace frc2

13
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h
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@@ -19,6 +19,19 @@ class CommandPS4Controller : public frc::PS4Controller {
public:
using PS4Controller::PS4Controller;
/**
* Constructs an event instance around this button's digital signal.
*
* @param button the button index
* @param loop the event loop instance to attach the event to. Defaults to the
* CommandScheduler's default loop.
* @return an event instance representing the button's digital signal attached
* to the given loop.
*/
Trigger Button(int button,
frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs an event instance around the square button's digital signal.
*

13
wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h
View File

@@ -19,6 +19,19 @@ class CommandXboxController : public frc::XboxController {
public:
using XboxController::XboxController;
/**
* Constructs an event instance around this button's digital signal.
*
* @param button the button index
* @param loop the event loop instance to attach the event to. Defaults to the
* CommandScheduler's default loop.
* @return an event instance representing the button's digital signal attached
* to the given loop.
*/
Trigger Button(int button,
frc::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs an event instance around the left bumper's digital signal.
*