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Added functions for detecting button press and release events (#626)

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I also shuffled around the HID interfaces to be more intuitive, deprecated some
Joystick and XboxController member functions, and deprecated the JoystickBase
and GamepadBase classes.

Supersedes #89.
This commit is contained in:
Tyler Veness
2017-10-27 21:45:56 -07:00
committed by Peter Johnson
parent c33fca34e9
commit 21585f70a8
17 changed files with 1334 additions and 724 deletions
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288
wpilibc/src/main/native/cpp/Joystick.cpp
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@@ -7,6 +7,8 @@
#include "Joystick.h"
#include <algorithm>
#include <array>
#include <cmath>
#include <HAL/HAL.h>
@@ -16,15 +18,9 @@
using namespace frc;
const int Joystick::kDefaultXAxis;
const int Joystick::kDefaultYAxis;
const int Joystick::kDefaultZAxis;
const int Joystick::kDefaultTwistAxis;
const int Joystick::kDefaultThrottleAxis;
const int Joystick::kDefaultTriggerButton;
const int Joystick::kDefaultTopButton;
static Joystick* joysticks[DriverStation::kJoystickPorts];
static bool joySticksInitialized = false;
constexpr int Joystick::kMinNumAxes;
constexpr double kPi = 3.14159265358979323846;
/**
* Construct an instance of a joystick.
@@ -34,53 +30,113 @@ static bool joySticksInitialized = false;
* @param port The port on the Driver Station that the joystick is plugged into
* (0-5).
*/
Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
m_axes[kXAxis] = kDefaultXAxis;
m_axes[kYAxis] = kDefaultYAxis;
m_axes[kZAxis] = kDefaultZAxis;
m_axes[kTwistAxis] = kDefaultTwistAxis;
m_axes[kThrottleAxis] = kDefaultThrottleAxis;
m_buttons[kTriggerButton] = kDefaultTriggerButton;
m_buttons[kTopButton] = kDefaultTopButton;
Joystick::Joystick(int port)
: GenericHID(port), m_axes(std::max(GetAxisCount(), kMinNumAxes)) {
m_axes[static_cast<int>(Axis::kX)] = kDefaultXAxis;
m_axes[static_cast<int>(Axis::kY)] = kDefaultYAxis;
m_axes[static_cast<int>(Axis::kZ)] = kDefaultZAxis;
m_axes[static_cast<int>(Axis::kTwist)] = kDefaultTwistAxis;
m_axes[static_cast<int>(Axis::kThrottle)] = kDefaultThrottleAxis;
HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
}
/**
* Version of the constructor to be called by sub-classes.
* Set the channel associated with a specified axis.
*
* This constructor allows the subclass to configure the number of constants
* for axes and buttons.
*
* @param port The port on the Driver Station that the joystick is
* plugged into.
* @param numAxisTypes The number of axis types in the enum.
* @param numButtonTypes The number of button types in the enum.
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
: JoystickBase(port),
m_ds(DriverStation::GetInstance()),
m_axes(numAxisTypes),
m_buttons(numButtonTypes) {
if (!joySticksInitialized) {
for (auto& joystick : joysticks) joystick = nullptr;
joySticksInitialized = true;
}
if (GetPort() >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
} else {
joysticks[GetPort()] = this;
}
void Joystick::SetAxisChannel(AxisType axis, int channel) {
m_axes[axis] = channel;
}
Joystick* Joystick::GetStickForPort(int port) {
Joystick* stick = joysticks[port];
if (stick == nullptr) {
stick = new Joystick(port);
joysticks[port] = stick;
}
return stick;
/**
* Set the channel associated with the X axis.
*
* @param channel The channel to set the axis to.
*/
void Joystick::SetXChannel(int channel) {
m_axes[static_cast<int>(Axis::kX)] = channel;
}
/**
* Set the channel associated with the Y axis.
*
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetYChannel(int channel) {
m_axes[static_cast<int>(Axis::kY)] = channel;
}
/**
* Set the channel associated with the Z axis.
*
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetZChannel(int channel) {
m_axes[static_cast<int>(Axis::kZ)] = channel;
}
/**
* Set the channel associated with the twist axis.
*
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetTwistChannel(int channel) {
m_axes[static_cast<int>(Axis::kTwist)] = channel;
}
/**
* Set the channel associated with the throttle axis.
*
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetThrottleChannel(int channel) {
m_axes[static_cast<int>(Axis::kThrottle)] = channel;
}
/**
* Get the channel currently associated with the X axis.
*
* @return The channel for the axis.
*/
int Joystick::GetXChannel() const { return m_axes[static_cast<int>(Axis::kX)]; }
/**
* Get the channel currently associated with the Y axis.
*
* @return The channel for the axis.
*/
int Joystick::GetYChannel() const { return m_axes[static_cast<int>(Axis::kY)]; }
/**
* Get the channel currently associated with the Z axis.
*
* @return The channel for the axis.
*/
int Joystick::GetZChannel() const { return m_axes[static_cast<int>(Axis::kZ)]; }
/**
* Get the channel currently associated with the twist axis.
*
* @return The channel for the axis.
*/
int Joystick::GetTwistChannel() const {
return m_axes[static_cast<int>(Axis::kTwist)];
}
/**
* Get the channel currently associated with the throttle axis.
*
* @return The channel for the axis.
*/
int Joystick::GetThrottleChannel() const {
return m_axes[static_cast<int>(Axis::kThrottle)];
}
/**
@@ -92,7 +148,7 @@ Joystick* Joystick::GetStickForPort(int port) {
* here to complete the GenericHID interface.
*/
double Joystick::GetX(JoystickHand hand) const {
return GetRawAxis(m_axes[kXAxis]);
return GetRawAxis(m_axes[kDefaultXAxis]);
}
/**
@@ -104,7 +160,7 @@ double Joystick::GetX(JoystickHand hand) const {
* here to complete the GenericHID interface.
*/
double Joystick::GetY(JoystickHand hand) const {
return GetRawAxis(m_axes[kYAxis]);
return GetRawAxis(m_axes[kDefaultYAxis]);
}
/**
@@ -112,16 +168,16 @@ double Joystick::GetY(JoystickHand hand) const {
*
* This depends on the mapping of the joystick connected to the current port.
*/
double Joystick::GetZ(JoystickHand hand) const {
return GetRawAxis(m_axes[kZAxis]);
}
double Joystick::GetZ() const { return GetRawAxis(m_axes[kDefaultZAxis]); }
/**
* Get the twist value of the current joystick.
*
* This depends on the mapping of the joystick connected to the current port.
*/
double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
double Joystick::GetTwist() const {
return GetRawAxis(m_axes[kDefaultTwistAxis]);
}
/**
* Get the throttle value of the current joystick.
@@ -129,7 +185,7 @@ double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
* This depends on the mapping of the joystick connected to the current port.
*/
double Joystick::GetThrottle() const {
return GetRawAxis(m_axes[kThrottleAxis]);
return GetRawAxis(m_axes[kDefaultThrottleAxis]);
}
/**
@@ -145,15 +201,15 @@ double Joystick::GetThrottle() const {
double Joystick::GetAxis(AxisType axis) const {
switch (axis) {
case kXAxis:
return this->GetX();
return GetX();
case kYAxis:
return this->GetY();
return GetY();
case kZAxis:
return this->GetZ();
return GetZ();
case kTwistAxis:
return this->GetTwist();
return GetTwist();
case kThrottleAxis:
return this->GetThrottle();
return GetThrottle();
default:
wpi_setWPIError(BadJoystickAxis);
return 0.0;
@@ -165,12 +221,28 @@ double Joystick::GetAxis(AxisType axis) const {
*
* Look up which button has been assigned to the trigger and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
* @return The state of the trigger.
*/
bool Joystick::GetTrigger(JoystickHand hand) const {
return GetRawButton(m_buttons[kTriggerButton]);
bool Joystick::GetTrigger() const {
return GetRawButton(static_cast<int>(Button::kTrigger));
}
/**
* Whether the trigger was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool Joystick::GetTriggerPressed() {
return GetRawButtonPressed(static_cast<int>(Button::kTrigger));
}
/**
* Whether the trigger was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool Joystick::GetTriggerReleased() {
return GetRawButtonReleased(static_cast<int>(Button::kTrigger));
}
/**
@@ -178,12 +250,39 @@ bool Joystick::GetTrigger(JoystickHand hand) const {
*
* Look up which button has been assigned to the top and read its state.
*
* @param hand This parameter is ignored for the Joystick class and is only
* here to complete the GenericHID interface.
* @return The state of the top button.
*/
bool Joystick::GetTop(JoystickHand hand) const {
return GetRawButton(m_buttons[kTopButton]);
bool Joystick::GetTop() const {
return GetRawButton(static_cast<int>(Button::kTop));
}
/**
* Whether the top button was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
*/
bool Joystick::GetTopPressed() {
return GetRawButtonPressed(static_cast<int>(Button::kTop));
}
/**
* Whether the top button was released since the last check.
*
* @return Whether the button was released since the last check.
*/
bool Joystick::GetTopReleased() {
return GetRawButtonReleased(static_cast<int>(Button::kTop));
}
Joystick* Joystick::GetStickForPort(int port) {
static std::array<std::unique_ptr<Joystick>, DriverStation::kJoystickPorts>
joysticks{};
auto stick = joysticks[port].get();
if (stick == nullptr) {
joysticks[port] = std::make_unique<Joystick>(port);
stick = joysticks[port].get();
}
return stick;
}
/**
@@ -195,57 +294,8 @@ bool Joystick::GetTop(JoystickHand hand) const {
* @return The state of the button.
*/
bool Joystick::GetButton(ButtonType button) const {
switch (button) {
case kTriggerButton:
return GetTrigger();
case kTopButton:
return GetTop();
default:
return false;
}
}
/**
* Get the number of axis for a joystick
*
* @return the number of axis for the current joystick
*/
int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(GetPort()); }
/**
* Get the axis type of a joystick axis.
*
* @return the axis type of a joystick axis.
*/
int Joystick::GetAxisType(int axis) const {
return m_ds.GetJoystickAxisType(GetPort(), axis);
}
/**
* Get the number of buttons for a joystick.
*
* @return the number of buttons on the current joystick
*/
int Joystick::GetButtonCount() const {
return m_ds.GetStickButtonCount(GetPort());
}
/**
* Get the channel currently associated with the specified axis.
*
* @param axis The axis to look up the channel for.
* @return The channel fr the axis.
*/
int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
/**
* Set the channel associated with a specified axis.
*
* @param axis The axis to set the channel for.
* @param channel The channel to set the axis to.
*/
void Joystick::SetAxisChannel(AxisType axis, int channel) {
m_axes[axis] = channel;
int temp = button;
return GetRawButton(static_cast<int>(static_cast<Button>(temp)));
}
/**
@@ -278,5 +328,5 @@ double Joystick::GetDirectionRadians() const {
* @return The direction of the vector in degrees
*/
double Joystick::GetDirectionDegrees() const {
return (180 / std::acos(-1)) * GetDirectionRadians();
return (180 / kPi) * GetDirectionRadians();
}