[hal,wpilib] Use new DS available API from mrccomm (#8302)

Instead of just having a max count for joystick values, there's an available mask of values. This is because in the future we're expecting there to be holes in the list of available buttons and axes. This updates everything to support that scenario. Also, Joystick buttons, axes, and POVs all now start at 0 instead of 1.
2026-06-21 01:01:43 +00:00 · 2025-10-25 23:03:50 -07:00
parent 429698f508
commit 2e10f91e07
62 changed files with 6101 additions and 1066 deletions
--- a/wpilibc/src/main/native/cpp/Gamepad.cpp
+++ b/wpilibc/src/main/native/cpp/Gamepad.cpp
@@ -0,0 +1,582 @@
+// 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.
+
+#include "frc/Gamepad.h"
+
+#include <hal/UsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+Gamepad::Gamepad(int port) : GenericHID(port) {
+  HAL_ReportUsage("HID", port, "Gamepad");
+}
+
+double Gamepad::GetLeftX() const {
+  return GetRawAxis(Axis::kLeftX);
+}
+
+double Gamepad::GetLeftY() const {
+  return GetRawAxis(Axis::kLeftY);
+}
+
+double Gamepad::GetRightX() const {
+  return GetRawAxis(Axis::kRightX);
+}
+
+double Gamepad::GetRightY() const {
+  return GetRawAxis(Axis::kRightY);
+}
+
+double Gamepad::GetLeftTriggerAxis() const {
+  return GetRawAxis(Axis::kLeftTrigger);
+}
+
+BooleanEvent Gamepad::LeftTrigger(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] {
+    return this->GetLeftTriggerAxis() > threshold;
+  });
+}
+
+BooleanEvent Gamepad::LeftTrigger(EventLoop* loop) const {
+  return this->LeftTrigger(0.5, loop);
+}
+
+double Gamepad::GetRightTriggerAxis() const {
+  return GetRawAxis(Axis::kRightTrigger);
+}
+
+BooleanEvent Gamepad::RightTrigger(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] {
+    return this->GetRightTriggerAxis() > threshold;
+  });
+}
+
+BooleanEvent Gamepad::RightTrigger(EventLoop* loop) const {
+  return this->RightTrigger(0.5, loop);
+}
+
+bool Gamepad::GetSouthFaceButton() const {
+  return GetRawButton(Button::kSouthFace);
+}
+
+bool Gamepad::GetSouthFaceButtonPressed() {
+  return GetRawButtonPressed(Button::kSouthFace);
+}
+
+bool Gamepad::GetSouthFaceButtonReleased() {
+  return GetRawButtonReleased(Button::kSouthFace);
+}
+
+BooleanEvent Gamepad::SouthFace(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetSouthFaceButton(); });
+}
+
+bool Gamepad::GetEastFaceButton() const {
+  return GetRawButton(Button::kEastFace);
+}
+
+bool Gamepad::GetEastFaceButtonPressed() {
+  return GetRawButtonPressed(Button::kEastFace);
+}
+
+bool Gamepad::GetEastFaceButtonReleased() {
+  return GetRawButtonReleased(Button::kEastFace);
+}
+
+BooleanEvent Gamepad::EastFace(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetEastFaceButton(); });
+}
+
+bool Gamepad::GetWestFaceButton() const {
+  return GetRawButton(Button::kWestFace);
+}
+
+bool Gamepad::GetWestFaceButtonPressed() {
+  return GetRawButtonPressed(Button::kWestFace);
+}
+
+bool Gamepad::GetWestFaceButtonReleased() {
+  return GetRawButtonReleased(Button::kWestFace);
+}
+
+BooleanEvent Gamepad::WestFace(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetWestFaceButton(); });
+}
+
+bool Gamepad::GetNorthFacenButton() const {
+  return GetRawButton(Button::kNorthFacen);
+}
+
+bool Gamepad::GetNorthFacenButtonPressed() {
+  return GetRawButtonPressed(Button::kNorthFacen);
+}
+
+bool Gamepad::GetNorthFacenButtonReleased() {
+  return GetRawButtonReleased(Button::kNorthFacen);
+}
+
+BooleanEvent Gamepad::NorthFacen(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetNorthFacenButton(); });
+}
+
+bool Gamepad::GetBackButton() const {
+  return GetRawButton(Button::kBack);
+}
+
+bool Gamepad::GetBackButtonPressed() {
+  return GetRawButtonPressed(Button::kBack);
+}
+
+bool Gamepad::GetBackButtonReleased() {
+  return GetRawButtonReleased(Button::kBack);
+}
+
+BooleanEvent Gamepad::Back(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetBackButton(); });
+}
+
+bool Gamepad::GetGuideButton() const {
+  return GetRawButton(Button::kGuide);
+}
+
+bool Gamepad::GetGuideButtonPressed() {
+  return GetRawButtonPressed(Button::kGuide);
+}
+
+bool Gamepad::GetGuideButtonReleased() {
+  return GetRawButtonReleased(Button::kGuide);
+}
+
+BooleanEvent Gamepad::Guide(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetGuideButton(); });
+}
+
+bool Gamepad::GetStartButton() const {
+  return GetRawButton(Button::kStart);
+}
+
+bool Gamepad::GetStartButtonPressed() {
+  return GetRawButtonPressed(Button::kStart);
+}
+
+bool Gamepad::GetStartButtonReleased() {
+  return GetRawButtonReleased(Button::kStart);
+}
+
+BooleanEvent Gamepad::Start(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetStartButton(); });
+}
+
+bool Gamepad::GetLeftStickButton() const {
+  return GetRawButton(Button::kLeftStick);
+}
+
+bool Gamepad::GetLeftStickButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftStick);
+}
+
+bool Gamepad::GetLeftStickButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftStick);
+}
+
+BooleanEvent Gamepad::LeftStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
+}
+
+bool Gamepad::GetRightStickButton() const {
+  return GetRawButton(Button::kRightStick);
+}
+
+bool Gamepad::GetRightStickButtonPressed() {
+  return GetRawButtonPressed(Button::kRightStick);
+}
+
+bool Gamepad::GetRightStickButtonReleased() {
+  return GetRawButtonReleased(Button::kRightStick);
+}
+
+BooleanEvent Gamepad::RightStick(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+}
+
+bool Gamepad::GetLeftShoulderButton() const {
+  return GetRawButton(Button::kLeftShoulder);
+}
+
+bool Gamepad::GetLeftShoulderButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftShoulder);
+}
+
+bool Gamepad::GetLeftShoulderButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftShoulder);
+}
+
+BooleanEvent Gamepad::LeftShoulder(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftShoulderButton(); });
+}
+
+bool Gamepad::GetRightShoulderButton() const {
+  return GetRawButton(Button::kRightShoulder);
+}
+
+bool Gamepad::GetRightShoulderButtonPressed() {
+  return GetRawButtonPressed(Button::kRightShoulder);
+}
+
+bool Gamepad::GetRightShoulderButtonReleased() {
+  return GetRawButtonReleased(Button::kRightShoulder);
+}
+
+BooleanEvent Gamepad::RightShoulder(EventLoop* loop) const {
+  return BooleanEvent(loop,
+                      [this]() { return this->GetRightShoulderButton(); });
+}
+
+bool Gamepad::GetDpadUpButton() const {
+  return GetRawButton(Button::kDpadUp);
+}
+
+bool Gamepad::GetDpadUpButtonPressed() {
+  return GetRawButtonPressed(Button::kDpadUp);
+}
+
+bool Gamepad::GetDpadUpButtonReleased() {
+  return GetRawButtonReleased(Button::kDpadUp);
+}
+
+BooleanEvent Gamepad::DpadUp(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetDpadUpButton(); });
+}
+
+bool Gamepad::GetDpadDownButton() const {
+  return GetRawButton(Button::kDpadDown);
+}
+
+bool Gamepad::GetDpadDownButtonPressed() {
+  return GetRawButtonPressed(Button::kDpadDown);
+}
+
+bool Gamepad::GetDpadDownButtonReleased() {
+  return GetRawButtonReleased(Button::kDpadDown);
+}
+
+BooleanEvent Gamepad::DpadDown(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetDpadDownButton(); });
+}
+
+bool Gamepad::GetDpadLeftButton() const {
+  return GetRawButton(Button::kDpadLeft);
+}
+
+bool Gamepad::GetDpadLeftButtonPressed() {
+  return GetRawButtonPressed(Button::kDpadLeft);
+}
+
+bool Gamepad::GetDpadLeftButtonReleased() {
+  return GetRawButtonReleased(Button::kDpadLeft);
+}
+
+BooleanEvent Gamepad::DpadLeft(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetDpadLeftButton(); });
+}
+
+bool Gamepad::GetDpadRightButton() const {
+  return GetRawButton(Button::kDpadRight);
+}
+
+bool Gamepad::GetDpadRightButtonPressed() {
+  return GetRawButtonPressed(Button::kDpadRight);
+}
+
+bool Gamepad::GetDpadRightButtonReleased() {
+  return GetRawButtonReleased(Button::kDpadRight);
+}
+
+BooleanEvent Gamepad::DpadRight(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetDpadRightButton(); });
+}
+
+bool Gamepad::GetMisc1Button() const {
+  return GetRawButton(Button::kMisc1);
+}
+
+bool Gamepad::GetMisc1ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc1);
+}
+
+bool Gamepad::GetMisc1ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc1);
+}
+
+BooleanEvent Gamepad::Misc1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc1Button(); });
+}
+
+bool Gamepad::GetRightPaddle1Button() const {
+  return GetRawButton(Button::kRightPaddle1);
+}
+
+bool Gamepad::GetRightPaddle1ButtonPressed() {
+  return GetRawButtonPressed(Button::kRightPaddle1);
+}
+
+bool Gamepad::GetRightPaddle1ButtonReleased() {
+  return GetRawButtonReleased(Button::kRightPaddle1);
+}
+
+BooleanEvent Gamepad::RightPaddle1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightPaddle1Button(); });
+}
+
+bool Gamepad::GetLeftPaddle1Button() const {
+  return GetRawButton(Button::kLeftPaddle1);
+}
+
+bool Gamepad::GetLeftPaddle1ButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftPaddle1);
+}
+
+bool Gamepad::GetLeftPaddle1ButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftPaddle1);
+}
+
+BooleanEvent Gamepad::LeftPaddle1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftPaddle1Button(); });
+}
+
+bool Gamepad::GetRightPaddle2Button() const {
+  return GetRawButton(Button::kRightPaddle2);
+}
+
+bool Gamepad::GetRightPaddle2ButtonPressed() {
+  return GetRawButtonPressed(Button::kRightPaddle2);
+}
+
+bool Gamepad::GetRightPaddle2ButtonReleased() {
+  return GetRawButtonReleased(Button::kRightPaddle2);
+}
+
+BooleanEvent Gamepad::RightPaddle2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetRightPaddle2Button(); });
+}
+
+bool Gamepad::GetLeftPaddle2Button() const {
+  return GetRawButton(Button::kLeftPaddle2);
+}
+
+bool Gamepad::GetLeftPaddle2ButtonPressed() {
+  return GetRawButtonPressed(Button::kLeftPaddle2);
+}
+
+bool Gamepad::GetLeftPaddle2ButtonReleased() {
+  return GetRawButtonReleased(Button::kLeftPaddle2);
+}
+
+BooleanEvent Gamepad::LeftPaddle2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetLeftPaddle2Button(); });
+}
+
+bool Gamepad::GetTouchpadButton() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool Gamepad::GetTouchpadButtonPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool Gamepad::GetTouchpadButtonReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+
+BooleanEvent Gamepad::Touchpad(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
+}
+
+bool Gamepad::GetMisc2Button() const {
+  return GetRawButton(Button::kMisc2);
+}
+
+bool Gamepad::GetMisc2ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc2);
+}
+
+bool Gamepad::GetMisc2ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc2);
+}
+
+BooleanEvent Gamepad::Misc2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc2Button(); });
+}
+
+bool Gamepad::GetMisc3Button() const {
+  return GetRawButton(Button::kMisc3);
+}
+
+bool Gamepad::GetMisc3ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc3);
+}
+
+bool Gamepad::GetMisc3ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc3);
+}
+
+BooleanEvent Gamepad::Misc3(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc3Button(); });
+}
+
+bool Gamepad::GetMisc4Button() const {
+  return GetRawButton(Button::kMisc4);
+}
+
+bool Gamepad::GetMisc4ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc4);
+}
+
+bool Gamepad::GetMisc4ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc4);
+}
+
+BooleanEvent Gamepad::Misc4(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc4Button(); });
+}
+
+bool Gamepad::GetMisc5Button() const {
+  return GetRawButton(Button::kMisc5);
+}
+
+bool Gamepad::GetMisc5ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc5);
+}
+
+bool Gamepad::GetMisc5ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc5);
+}
+
+BooleanEvent Gamepad::Misc5(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc5Button(); });
+}
+
+bool Gamepad::GetMisc6Button() const {
+  return GetRawButton(Button::kMisc6);
+}
+
+bool Gamepad::GetMisc6ButtonPressed() {
+  return GetRawButtonPressed(Button::kMisc6);
+}
+
+bool Gamepad::GetMisc6ButtonReleased() {
+  return GetRawButtonReleased(Button::kMisc6);
+}
+
+BooleanEvent Gamepad::Misc6(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetMisc6Button(); });
+}
+
+double Gamepad::GetAxisForSendable(int axis) const {
+  return DriverStation::GetStickAxisIfAvailable(GetPort(), axis).value_or(0.0);
+}
+
+bool Gamepad::GetButtonForSendable(int button) const {
+  return DriverStation::GetStickButtonIfAvailable(GetPort(), button)
+      .value_or(false);
+}
+
+void Gamepad::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "Gamepad");
+  builder.AddDoubleProperty(
+      "LeftTrigger Axis",
+      [this] { return GetAxisForSendable(Axis::kLeftTrigger); }, nullptr);
+  builder.AddDoubleProperty(
+      "RightTrigger Axis",
+      [this] { return GetAxisForSendable(Axis::kRightTrigger); }, nullptr);
+  builder.AddDoubleProperty(
+      "LeftX", [this] { return GetAxisForSendable(Axis::kLeftX); }, nullptr);
+  builder.AddDoubleProperty(
+      "LeftY", [this] { return GetAxisForSendable(Axis::kLeftY); }, nullptr);
+  builder.AddDoubleProperty(
+      "RightX", [this] { return GetAxisForSendable(Axis::kRightX); }, nullptr);
+  builder.AddDoubleProperty(
+      "RightY", [this] { return GetAxisForSendable(Axis::kRightY); }, nullptr);
+  builder.AddBooleanProperty(
+      "SouthFace", [this] { return GetButtonForSendable(Button::kSouthFace); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "EastFace", [this] { return GetButtonForSendable(Button::kEastFace); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "WestFace", [this] { return GetButtonForSendable(Button::kWestFace); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "NorthFacen",
+      [this] { return GetButtonForSendable(Button::kNorthFacen); }, nullptr);
+  builder.AddBooleanProperty(
+      "Back", [this] { return GetButtonForSendable(Button::kBack); }, nullptr);
+  builder.AddBooleanProperty(
+      "Guide", [this] { return GetButtonForSendable(Button::kGuide); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Start", [this] { return GetButtonForSendable(Button::kStart); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "LeftStick", [this] { return GetButtonForSendable(Button::kLeftStick); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "RightStick",
+      [this] { return GetButtonForSendable(Button::kRightStick); }, nullptr);
+  builder.AddBooleanProperty(
+      "LeftShoulder",
+      [this] { return GetButtonForSendable(Button::kLeftShoulder); }, nullptr);
+  builder.AddBooleanProperty(
+      "RightShoulder",
+      [this] { return GetButtonForSendable(Button::kRightShoulder); }, nullptr);
+  builder.AddBooleanProperty(
+      "DpadUp", [this] { return GetButtonForSendable(Button::kDpadUp); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "DpadDown", [this] { return GetButtonForSendable(Button::kDpadDown); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "DpadLeft", [this] { return GetButtonForSendable(Button::kDpadLeft); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "DpadRight", [this] { return GetButtonForSendable(Button::kDpadRight); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc1", [this] { return GetButtonForSendable(Button::kMisc1); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "RightPaddle1",
+      [this] { return GetButtonForSendable(Button::kRightPaddle1); }, nullptr);
+  builder.AddBooleanProperty(
+      "LeftPaddle1",
+      [this] { return GetButtonForSendable(Button::kLeftPaddle1); }, nullptr);
+  builder.AddBooleanProperty(
+      "RightPaddle2",
+      [this] { return GetButtonForSendable(Button::kRightPaddle2); }, nullptr);
+  builder.AddBooleanProperty(
+      "LeftPaddle2",
+      [this] { return GetButtonForSendable(Button::kLeftPaddle2); }, nullptr);
+  builder.AddBooleanProperty(
+      "Touchpad", [this] { return GetButtonForSendable(Button::kTouchpad); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc2", [this] { return GetButtonForSendable(Button::kMisc2); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc3", [this] { return GetButtonForSendable(Button::kMisc3); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc4", [this] { return GetButtonForSendable(Button::kMisc4); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc5", [this] { return GetButtonForSendable(Button::kMisc5); },
+      nullptr);
+  builder.AddBooleanProperty(
+      "Misc6", [this] { return GetButtonForSendable(Button::kMisc6); },
+      nullptr);
+}