[wpilib,commands] Use Jinja to generate HID classes (#6274)

wpilibc/src/generate/main/native/cpp/hid.cpp.jinja

@@ -0,0 +1,92 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#include "frc/{{ ConsoleName }}Controller.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+{{ ConsoleName }}Controller::{{ ConsoleName }}Controller(int port) : GenericHID(port) {
+  {{ "// " if SkipReporting }}HAL_Report(HALUsageReporting::kResourceType_{{ ConsoleName }}Controller, port + 1);
+}
+{% for stick in sticks %}
+double {{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
+  return GetRawAxis(Axis::k{{ stick.NameParts|map("capitalize")|join }});
+}
+{% endfor -%}
+{% for trigger in triggers %}
+double {{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
+  return GetRawAxis(Axis::k{{ capitalize_first(trigger.name) }});
+}
+{% if trigger.UseThresholdMethods %}
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold, EventLoop* loop) const {
+  return BooleanEvent(loop, [this, threshold] { return this->Get{{ capitalize_first(trigger.name) }}Axis() > threshold; });
+}
+
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(EventLoop* loop) const {
+  return this->{{ capitalize_first(trigger.name) }}(0.5, loop);
+}
+{% endif -%}
+{% endfor -%}
+{% for button in buttons %}
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}Button() const {
+  return GetRawButton(Button::k{{ capitalize_first(button.name) }});
+}
+
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonPressed() {
+  return GetRawButtonPressed(Button::k{{ capitalize_first(button.name) }});
+}
+
+bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonReleased() {
+  return GetRawButtonReleased(Button::k{{ capitalize_first(button.name) }});
+}
+
+BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->Get{{ capitalize_first(button.name) }}Button(); });
+}
+{% endfor -%}
+{% if ConsoleName == "Xbox" or ConsoleName == "Stadia"%}
+bool {{ ConsoleName }}Controller::GetLeftBumper() const {
+  return GetRawButton(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumper() const {
+  return GetRawButton(Button::kRightBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetLeftBumperPressed() {
+  return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumperPressed() {
+  return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetLeftBumperReleased() {
+  return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+bool {{ ConsoleName }}Controller::GetRightBumperReleased() {
+  return GetRawButtonReleased(Button::kRightBumper);
+}
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+bool {{ ConsoleName }}Controller::GetTouchpad() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool {{ ConsoleName }}Controller::GetTouchpadPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+{% endif %}

wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja

@@ -0,0 +1,42 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#include "frc/simulation/{{ ConsoleName }}ControllerSim.h"
+
+#include "frc/{{ ConsoleName }}Controller.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+{{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxisCount({{ sticks|length + triggers|length }});
+  SetButtonCount({{ buttons|length }});
+  SetPOVCount(1);
+}
+
+{{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxisCount({{ sticks|length + triggers|length }});
+  SetButtonCount({{ buttons|length }});
+  SetPOVCount(1);
+}
+{% for stick in sticks %}
+void {{ ConsoleName }}ControllerSim::Set{{ stick.NameParts|map("capitalize")|join }}(double value) {
+  SetRawAxis({{ ConsoleName }}Controller::Axis::k{{ stick.NameParts|map("capitalize")|join }}, value);
+}
+{% endfor -%}
+{% for trigger in triggers %}
+void {{ ConsoleName }}ControllerSim::Set{{ capitalize_first(trigger.name) }}Axis(double value) {
+  SetRawAxis({{ ConsoleName }}Controller::Axis::k{{ capitalize_first(trigger.name) }}, value);
+}
+{% endfor -%}
+{% for button in buttons %}
+void {{ ConsoleName }}ControllerSim::Set{{ capitalize_first(button.name) }}Button(bool value) {
+  SetRawButton({{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, value);
+}
+{% endfor %}

wpilibc/src/generate/main/native/include/frc/hid.h.jinja

@@ -0,0 +1,208 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#pragma once
+
+#include "frc/GenericHID.h"
+
+namespace frc {
+
+/**
+ * Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
+ *
+ * This class handles {{ ConsoleName }} 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 controller and the mapping of ports to
+ * hardware buttons depends on the code in the Driver Station.
+ *
+ * Only first party controllers from {{ Manufacturer }} are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
+ */
+class {{ ConsoleName }}Controller : public GenericHID {
+ public:
+  /**
+   * Construct an instance of a controller.
+   *
+   * The controller index is the USB port on the Driver Station.
+   *
+   * @param port The port on the Driver Station that the controller is plugged
+   *             into (0-5).
+   */
+  explicit {{ ConsoleName }}Controller(int port);
+
+  ~{{ ConsoleName }}Controller() override = default;
+
+  {{ ConsoleName }}Controller({{ ConsoleName }}Controller&&) = default;
+  {{ ConsoleName }}Controller& operator=({{ ConsoleName }}Controller&&) = default;
+{% for stick in sticks %}
+  /**
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   *
+   * @return the axis value.
+   */
+  double Get{{ stick.NameParts|map("capitalize")|join }}() const;
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Get the {{ trigger.DocName }} axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double Get{{ capitalize_first(trigger.name) }}Axis() const;
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}.
+   * The returned trigger will be true when the axis value is greater than
+   * {@code threshold}.
+   * @param threshold the minimum axis value for the returned event to be true.
+   * This value should be in the range [0, 1] where 0 is the unpressed state of
+   * the axis.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds the provided threshold, attached to the given event loop
+   */
+  BooleanEvent {{ capitalize_first(trigger.name) }}(double threshold, EventLoop* loop) const;
+
+  /**
+   * Constructs an event instance around the axis value of the {{ trigger.DocName }}.
+   * The returned trigger will be true when the axis value is greater than 0.5.
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds 0.5, attached to the given event loop
+   */
+  BooleanEvent {{ capitalize_first(trigger.name) }}(EventLoop* loop) const;
+{% endif -%}
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Read the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @return The state of the button.
+   */
+  bool Get{{ capitalize_first(button.name) }}Button() const;
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check.
+   */
+  bool Get{{ capitalize_first(button.name) }}ButtonPressed();
+
+  /**
+   * Whether the {{ button.DocName|default(button.name) }} button was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  bool Get{{ capitalize_first(button.name) }}ButtonReleased();
+
+  /**
+   * Constructs an event instance around the {{ button.DocName|default(button.name) }} button's
+   * digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the {{ button.DocName|default(button.name) }} button's
+   * digital signal attached to the given loop.
+   */
+  BooleanEvent {{ capitalize_first(button.name) }}(EventLoop* loop) const;
+{% endfor -%}
+{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
+  /**
+   * Read the value of the left bumper (LB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetLeftBumperButton instead")]]
+  bool GetLeftBumper() const;
+
+  /**
+   * Read the value of the right bumper (RB) button on the controller.
+   *
+   * @return the state of the button
+   */
+  [[deprecated("Use GetRightBumperButton instead")]]
+  bool GetRightBumper() const;
+
+  /**
+   * Whether the left bumper (LB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetLeftBumperButtonPressed instead")]]
+  bool GetLeftBumperPressed();
+
+  /**
+   * Whether the right bumper (RB) was pressed since the last check.
+   *
+   * @return Whether the button was pressed since the last check
+   */
+  [[deprecated("Use GetRightBumperButtonPressed instead")]]
+  bool GetRightBumperPressed();
+
+  /**
+   * Whether the left bumper (LB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetLeftBumperButtonReleased instead")]]
+  bool GetLeftBumperReleased();
+
+  /**
+   * Whether the right bumper (RB) was released since the last check.
+   *
+   * @return Whether the button was released since the last check.
+   */
+  [[deprecated("Use GetRightBumperButtonReleased instead")]]
+  bool GetRightBumperReleased();
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+  /**
+   * Read the value of the touchpad button on the controller.
+   *
+   * @return The state of the button.
+   */
+  [[deprecated("Use GetTouchpadButton instead")]]
+  bool GetTouchpad() const;
+  /**
+   * Whether the touchpad was pressed since the last check.
+   *
+   * @return Whether the touchpad was pressed since the last check.
+   */
+  [[deprecated("Use GetTouchpadButtonPressed instead")]]
+  bool GetTouchpadPressed();
+
+  /**
+   * Whether the touchpad was released since the last check.
+   *
+   * @return Whether the touchpad was released since the last check.
+   */
+  [[deprecated("Use GetTouchpadButtonReleased instead")]]
+  bool GetTouchpadReleased();
+{% endif %}
+  /** Represents a digital button on an {{ ConsoleName }}Controller. */
+  struct Button {
+{%- for button in buttons %}
+    /// {{ capitalize_first(button.DocName|default(button.name)) }} button.
+    static constexpr int k{{ capitalize_first(button.name) }} = {{ button.value }};
+{%- endfor %}
+  };
+
+  /** Represents an axis on an {{ ConsoleName }}Controller. */
+  struct Axis {
+{%- for stick in sticks %}
+    /// {{ stick.NameParts|map("capitalize")|join(" ") }} axis.
+    static constexpr int k{{ stick.NameParts|map("capitalize")|join }} = {{ stick.value }};
+{%- endfor %}
+{%- for trigger in triggers %}
+    /// {{ trigger.DocName|capitalize }}.
+    static constexpr int k{{ capitalize_first(trigger.name) }} = {{ trigger.value }};
+{%- endfor %}
+  };
+};
+
+}  // namespace frc

wpilibc/src/generate/main/native/include/frc/simulation/hidsim.h.jinja

@@ -0,0 +1,89 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_hids.py. DO NOT MODIFY
+{% macro capitalize_first(string) -%}
+{{ string[0]|capitalize + string[1:] }}
+{%- endmacro %}
+#pragma once
+
+#include "frc/simulation/GenericHIDSim.h"
+
+namespace frc {
+
+class {{ ConsoleName }}Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated {{ ConsoleName }} controller.
+ */
+class {{ ConsoleName }}ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a {{ ConsoleName }}Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit {{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit {{ ConsoleName }}ControllerSim(int port);
+{% for stick in sticks %}
+  /**
+   * Change the {{ stick.NameParts|join(" ") }} value of the controller's joystick.
+   *
+   * @param value the new value
+   */
+  void Set{{ stick.NameParts|map("capitalize")|join }}(double value);
+{% endfor -%}
+{% for trigger in triggers %}
+  /**
+   * Change the value of the {{ trigger.DocName }} axis on the controller.
+   *
+   * @param value the new value
+   */
+  void Set{{ capitalize_first(trigger.name) }}Axis(double value);
+{% endfor -%}
+{% for button in buttons %}
+  /**
+   * Change the value of the {{ button.DocName|default(button.name) }} button on the controller.
+   *
+   * @param value the new value
+   */
+  void Set{{ capitalize_first(button.name) }}Button(bool value);
+{% endfor -%}
+{% if ConsoleName == "Xbox" %}
+  /**
+   * Change the left bumper value of the joystick.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetLeftBumperButton instead")]]
+  void SetLeftBumper(bool value);
+
+  /**
+   * Change the right bumper value of the joystick.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetRightBumperButton instead")]]
+  void SetRightBumper(bool value);
+{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  [[deprecated("Use SetTouchpadButton instead")]]
+  void SetTouchpad(bool value);
+{% endif %}
+};
+
+}  // namespace sim
+}  // namespace frc