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[wpilib] Implement Sendable for HID classes (#6782)

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Jade
2024-07-18 22:10:07 +08:00
committed by GitHub
parent 34b8b7a409
commit 7663211819
15 changed files with 287 additions and 14 deletions
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23
wpilibj/src/generate/hid.java.jinja
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@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj;
{{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
{{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
@@ -24,7 +26,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class {{ ConsoleName }}Controller extends GenericHID {
public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
/** Represents a digital button on a {{ ConsoleName }}Controller. */
public enum Button {
{%- for button in buttons %}
@@ -252,7 +254,7 @@ public class {{ ConsoleName }}Controller extends GenericHID {
public boolean getRightBumperReleased() {
return getRawButtonReleased(Button.kRightBumper.value);
}
{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
/**
* Read the value of the touchpad on the controller.
*
@@ -285,5 +287,20 @@ public class {{ ConsoleName }}Controller extends GenericHID {
public boolean getTouchpadReleased() {
return getRawButtonReleased(Button.kTouchpad.value);
}
{% endif -%}
{%- endif %}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");
builder.publishConstString("ControllerType", "{{ ConsoleName }}");
{%- for trigger in triggers %}
builder.addDoubleProperty("{{ capitalize_first(trigger.name) }}", this::get{{ capitalize_first(trigger.name) }}Axis, null);
{%- endfor -%}
{% for stick in sticks %}
builder.addDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", this::get{{ stick.NameParts|map("capitalize")|join }}, null);
{%- endfor -%}
{% for button in buttons %}
builder.addBooleanProperty("{{ capitalize_first(button.name) }}", this::get{{ capitalize_first(button.name) }}Button, null);
{%- endfor %}
}
}