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

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.

wpilibc/src/main/native/include/DriverStation.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <array>
 #include <atomic>
 #include <memory>
 #include <mutex>
@@ -38,10 +39,13 @@ class DriverStation : public SensorBase, public RobotStateInterface {
 
   static const int kJoystickPorts = 6;
 
+  bool GetStickButton(int stick, int button);
+  bool GetStickButtonPressed(int stick, int button);
+  bool GetStickButtonReleased(int stick, int button);
+
   double GetStickAxis(int stick, int axis);
   int GetStickPOV(int stick, int pov);
   int GetStickButtons(int stick) const;
-  bool GetStickButton(int stick, int button);
 
   int GetStickAxisCount(int stick) const;
   int GetStickPOVCount(int stick) const;
@@ -112,6 +116,10 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
   std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
 
+  // Joystick button rising/falling edge flags
+  std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
+  std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
+
   // Internal Driver Station thread
   std::thread m_dsThread;
   std::atomic<bool> m_isRunning{false};

wpilibc/src/main/native/include/GamepadBase.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <support/deprecated.h>
+
 #include "GenericHID.h"
 
 namespace frc {
@@ -14,7 +16,8 @@ namespace frc {
 /**
  * Gamepad Interface.
  */
-class GamepadBase : public GenericHID {
+class WPI_DEPRECATED("Inherit directly from GenericHID instead.") GamepadBase
+    : public GenericHID {
  public:
   explicit GamepadBase(int port);
   virtual ~GamepadBase() = default;

wpilibc/src/main/native/include/GenericHID.h

@@ -11,6 +11,8 @@
 
 #include <string>
 
+#include "ErrorBase.h"
+
 namespace frc {
 
 class DriverStation;
@@ -18,11 +20,11 @@ class DriverStation;
 /**
  * GenericHID Interface.
  */
-class GenericHID {
+class GenericHID : public ErrorBase {
  public:
-  typedef enum { kLeftRumble, kRightRumble } RumbleType;
+  enum RumbleType { kLeftRumble, kRightRumble };
 
-  typedef enum {
+  enum HIDType {
     kUnknown = -1,
     kXInputUnknown = 0,
     kXInputGamepad = 1,
@@ -40,7 +42,7 @@ class GenericHID {
     kHIDDriving = 22,
     kHIDFlight = 23,
     kHID1stPerson = 24
-  } HIDType;
+  };
 
   enum JoystickHand { kLeftHand = 0, kRightHand = 1 };
 
@@ -49,16 +51,23 @@ class GenericHID {
 
   virtual double GetX(JoystickHand hand = kRightHand) const = 0;
   virtual double GetY(JoystickHand hand = kRightHand) const = 0;
-  virtual double GetRawAxis(int axis) const;
 
   bool GetRawButton(int button) const;
+  bool GetRawButtonPressed(int button);
+  bool GetRawButtonReleased(int button);
 
+  double GetRawAxis(int axis) const;
   int GetPOV(int pov = 0) const;
-  int GetPOVCount() const;
 
-  int GetPort() const;
+  int GetAxisCount() const;
+  int GetPOVCount() const;
+  int GetButtonCount() const;
+
   GenericHID::HIDType GetType() const;
   std::string GetName() const;
+  int GetAxisType(int axis) const;
+
+  int GetPort() const;
 
   void SetOutput(int outputNumber, bool value);
   void SetOutputs(int value);

wpilibc/src/main/native/include/Joystick.h

@@ -7,82 +7,90 @@
 
 #pragma once
 
-#include <stdint.h>
-
-#include <memory>
 #include <vector>
 
-#include "ErrorBase.h"
-#include "JoystickBase.h"
+#include <support/deprecated.h>
+
+#include "GenericHID.h"
 
 namespace frc {
 
-class DriverStation;
-
 /**
  * Handle input from standard Joysticks connected to the Driver Station.
+ *
  * This class handles standard input that comes from the Driver Station. Each
  * time a value is requested the most recent value is returned. There is a
  * single class instance for each joystick and the mapping of ports to hardware
  * buttons depends on the code in the Driver Station.
  */
-class Joystick : public JoystickBase, public ErrorBase {
+class Joystick : public GenericHID {
  public:
-  static const int kDefaultXAxis = 0;
-  static const int kDefaultYAxis = 1;
-  static const int kDefaultZAxis = 2;
-  static const int kDefaultTwistAxis = 2;
-  static const int kDefaultThrottleAxis = 3;
+  static constexpr int kDefaultXAxis = 0;
+  static constexpr int kDefaultYAxis = 1;
+  static constexpr int kDefaultZAxis = 2;
+  static constexpr int kDefaultTwistAxis = 2;
+  static constexpr int kDefaultThrottleAxis = 3;
+  static constexpr int kMinNumAxes = 4;
 
-  typedef enum {
-    kXAxis,
-    kYAxis,
-    kZAxis,
-    kTwistAxis,
-    kThrottleAxis,
-    kNumAxisTypes
-  } AxisType;
-
-  static const int kDefaultTriggerButton = 1;
-  static const int kDefaultTopButton = 2;
-
-  typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
+  enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
+  enum ButtonType { kTriggerButton, kTopButton };
 
   explicit Joystick(int port);
-  Joystick(int port, int numAxisTypes, int numButtonTypes);
   virtual ~Joystick() = default;
 
   Joystick(const Joystick&) = delete;
   Joystick& operator=(const Joystick&) = delete;
 
-  int GetAxisChannel(AxisType axis) const;
+  void SetXChannel(int channel);
+  void SetYChannel(int channel);
+  void SetZChannel(int channel);
+  void SetTwistChannel(int channel);
+  void SetThrottleChannel(int channel);
+
+  WPI_DEPRECATED("Use the more specific axis channel setter functions.")
   void SetAxisChannel(AxisType axis, int channel);
 
+  int GetXChannel() const;
+  int GetYChannel() const;
+  int GetZChannel() const;
+  int GetTwistChannel() const;
+  int GetThrottleChannel() const;
+
+  WPI_DEPRECATED("Use the more specific axis channel getter functions.")
+  int GetAxisChannel(AxisType axis) const;
+
   double GetX(JoystickHand hand = kRightHand) const override;
   double GetY(JoystickHand hand = kRightHand) const override;
-  double GetZ(JoystickHand hand = kRightHand) const override;
-  double GetTwist() const override;
-  double GetThrottle() const override;
-  virtual double GetAxis(AxisType axis) const;
+  double GetZ() const;
+  double GetTwist() const;
+  double GetThrottle() const;
 
-  bool GetTrigger(JoystickHand hand = kRightHand) const override;
-  bool GetTop(JoystickHand hand = kRightHand) const override;
-  bool GetButton(ButtonType button) const;
+  WPI_DEPRECATED("Use the more specific axis channel getter functions.")
+  double GetAxis(AxisType axis) const;
+
+  bool GetTrigger() const;
+  bool GetTriggerPressed();
+  bool GetTriggerReleased();
+
+  bool GetTop() const;
+  bool GetTopPressed();
+  bool GetTopReleased();
+
+  WPI_DEPRECATED("Use Joystick instances instead.")
   static Joystick* GetStickForPort(int port);
 
-  virtual double GetMagnitude() const;
-  virtual double GetDirectionRadians() const;
-  virtual double GetDirectionDegrees() const;
+  WPI_DEPRECATED("Use the more specific button getter functions.")
+  bool GetButton(ButtonType button) const;
 
-  int GetAxisType(int axis) const;
-
-  int GetAxisCount() const;
-  int GetButtonCount() const;
+  double GetMagnitude() const;
+  double GetDirectionRadians() const;
+  double GetDirectionDegrees() const;
 
  private:
-  DriverStation& m_ds;
+  enum class Axis { kX, kY, kZ, kTwist, kThrottle };
+  enum class Button { kTrigger = 1, kTop = 2 };
+
   std::vector<int> m_axes;
-  std::vector<int> m_buttons;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/JoystickBase.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <support/deprecated.h>
+
 #include "GenericHID.h"
 
 namespace frc {
@@ -14,7 +16,8 @@ namespace frc {
 /**
  * Joystick Interface.
  */
-class JoystickBase : public GenericHID {
+class WPI_DEPRECATED("Inherit directly from GenericHID instead.") JoystickBase
+    : public GenericHID {
  public:
   explicit JoystickBase(int port);
   virtual ~JoystickBase() = default;
@@ -22,9 +25,6 @@ class JoystickBase : public GenericHID {
   virtual double GetZ(JoystickHand hand = kRightHand) const = 0;
   virtual double GetTwist() const = 0;
   virtual double GetThrottle() const = 0;
-
-  virtual bool GetTrigger(JoystickHand hand = kRightHand) const = 0;
-  virtual bool GetTop(JoystickHand hand = kRightHand) const = 0;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/XboxController.h

@@ -7,23 +7,20 @@
 
 #pragma once
 
-#include "ErrorBase.h"
-#include "GamepadBase.h"
+#include "GenericHID.h"
 
 namespace frc {
 
-class DriverStation;
-
 /**
  * Handle input from Xbox 360 or Xbox One controllers connected to the Driver
  * Station.
  *
  * This class handles Xbox input that comes from the Driver Station. Each time a
- * value is requested the most recent value is returend. There is a single class
+ * value is requested the most recent value is returned. There is a single class
  * instance for each controller and the mapping of ports to hardware buttons
  * depends on the code in the Driver Station.
  */
-class XboxController : public GamepadBase, public ErrorBase {
+class XboxController : public GenericHID {
  public:
   explicit XboxController(int port);
   virtual ~XboxController() = default;
@@ -33,21 +30,53 @@ class XboxController : public GamepadBase, public ErrorBase {
 
   double GetX(JoystickHand hand) const override;
   double GetY(JoystickHand hand) const override;
+  double GetTriggerAxis(JoystickHand hand) const;
 
-  bool GetBumper(JoystickHand hand) const override;
-  bool GetStickButton(JoystickHand hand) const override;
+  bool GetBumper(JoystickHand hand) const;
+  bool GetBumperPressed(JoystickHand hand);
+  bool GetBumperReleased(JoystickHand hand);
 
-  virtual double GetTriggerAxis(JoystickHand hand) const;
+  bool GetStickButton(JoystickHand hand) const;
+  bool GetStickButtonPressed(JoystickHand hand);
+  bool GetStickButtonReleased(JoystickHand hand);
 
   bool GetAButton() const;
+  bool GetAButtonPressed();
+  bool GetAButtonReleased();
+
   bool GetBButton() const;
+  bool GetBButtonPressed();
+  bool GetBButtonReleased();
+
   bool GetXButton() const;
+  bool GetXButtonPressed();
+  bool GetXButtonReleased();
+
   bool GetYButton() const;
+  bool GetYButtonPressed();
+  bool GetYButtonReleased();
+
   bool GetBackButton() const;
+  bool GetBackButtonPressed();
+  bool GetBackButtonReleased();
+
   bool GetStartButton() const;
+  bool GetStartButtonPressed();
+  bool GetStartButtonReleased();
 
  private:
-  DriverStation& m_ds;
+  enum class Button {
+    kBumperLeft = 5,
+    kBumperRight = 6,
+    kStickLeft = 9,
+    kStickRight = 10,
+    kA = 1,
+    kB = 2,
+    kX = 3,
+    kY = 4,
+    kBack = 7,
+    kStart = 8
+  };
 };
 
 }  // namespace frc