mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-30 02:31:44 +00:00
Major formatting changes (breaks diffs). No code changes.
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
@@ -1,5 +1,6 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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@@ -25,29 +26,29 @@ static bool joySticksInitialized = false;
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* Construct an instance of a joystick.
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* The joystick index is the usb port on the drivers station.
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*
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* @param port The port on the driver station that the joystick is plugged into (0-5).
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* @param port The port on the driver station that the joystick is plugged into
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* (0-5).
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*/
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Joystick::Joystick(uint32_t port)
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: m_ds (NULL)
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, m_port (port)
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, m_axes (NULL)
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, m_buttons (NULL)
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, m_outputs (0)
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, m_leftRumble (0)
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, m_rightRumble (0)
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{
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InitJoystick(kNumAxisTypes, kNumButtonTypes);
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: m_ds(NULL),
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m_port(port),
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m_axes(NULL),
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m_buttons(NULL),
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m_outputs(0),
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m_leftRumble(0),
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m_rightRumble(0) {
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InitJoystick(kNumAxisTypes, kNumButtonTypes);
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m_axes[kXAxis] = kDefaultXAxis;
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m_axes[kYAxis] = kDefaultYAxis;
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m_axes[kZAxis] = kDefaultZAxis;
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m_axes[kTwistAxis] = kDefaultTwistAxis;
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m_axes[kThrottleAxis] = kDefaultThrottleAxis;
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m_axes[kXAxis] = kDefaultXAxis;
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m_axes[kYAxis] = kDefaultYAxis;
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m_axes[kZAxis] = kDefaultZAxis;
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m_axes[kTwistAxis] = kDefaultTwistAxis;
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m_axes[kThrottleAxis] = kDefaultThrottleAxis;
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m_buttons[kTriggerButton] = kDefaultTriggerButton;
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m_buttons[kTopButton] = kDefaultTopButton;
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m_buttons[kTriggerButton] = kDefaultTriggerButton;
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m_buttons[kTopButton] = kDefaultTopButton;
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HALReport(HALUsageReporting::kResourceType_Joystick, port);
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HALReport(HALUsageReporting::kResourceType_Joystick, port);
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}
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/**
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@@ -60,96 +61,81 @@ Joystick::Joystick(uint32_t port)
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* @param numAxisTypes The number of axis types in the enum.
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* @param numButtonTypes The number of button types in the enum.
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*/
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Joystick::Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes)
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: m_ds (NULL)
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, m_port (port)
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, m_axes (NULL)
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, m_buttons (NULL)
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{
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InitJoystick(numAxisTypes, numButtonTypes);
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Joystick::Joystick(uint32_t port, uint32_t numAxisTypes,
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uint32_t numButtonTypes)
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: m_ds(NULL), m_port(port), m_axes(NULL), m_buttons(NULL) {
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InitJoystick(numAxisTypes, numButtonTypes);
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}
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void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes)
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{
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if ( !joySticksInitialized )
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{
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for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
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joysticks[i] = NULL;
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joySticksInitialized = true;
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}
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if (m_port >= DriverStation::kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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} else {
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joysticks[m_port] = this;
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}
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void Joystick::InitJoystick(uint32_t numAxisTypes, uint32_t numButtonTypes) {
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if (!joySticksInitialized) {
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for (unsigned i = 0; i < DriverStation::kJoystickPorts; i++)
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joysticks[i] = NULL;
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joySticksInitialized = true;
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}
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if (m_port >= DriverStation::kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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} else {
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joysticks[m_port] = this;
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}
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m_ds = DriverStation::GetInstance();
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m_axes = new uint32_t[numAxisTypes];
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m_buttons = new uint32_t[numButtonTypes];
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m_ds = DriverStation::GetInstance();
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m_axes = new uint32_t[numAxisTypes];
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m_buttons = new uint32_t[numButtonTypes];
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}
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Joystick * Joystick::GetStickForPort(uint32_t port)
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{
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Joystick *stick = joysticks[port];
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if (stick == NULL)
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{
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stick = new Joystick(port);
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joysticks[port] = stick;
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}
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return stick;
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Joystick *Joystick::GetStickForPort(uint32_t port) {
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Joystick *stick = joysticks[port];
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if (stick == NULL) {
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stick = new Joystick(port);
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joysticks[port] = stick;
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}
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return stick;
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}
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Joystick::~Joystick()
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{
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delete [] m_buttons;
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delete [] m_axes;
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Joystick::~Joystick() {
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delete[] m_buttons;
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delete[] m_axes;
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}
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/**
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* Get the X value of the joystick.
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* This depends on the mapping of the joystick connected to the current port.
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @param hand This parameter is ignored for the Joystick class and is only here
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* to complete the GenericHID interface.
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*/
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float Joystick::GetX(JoystickHand hand) const
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{
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return GetRawAxis(m_axes[kXAxis]);
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float Joystick::GetX(JoystickHand hand) const {
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return GetRawAxis(m_axes[kXAxis]);
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}
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/**
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* Get the Y value of the joystick.
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* This depends on the mapping of the joystick connected to the current port.
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @param hand This parameter is ignored for the Joystick class and is only here
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* to complete the GenericHID interface.
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*/
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float Joystick::GetY(JoystickHand hand) const
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{
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return GetRawAxis(m_axes[kYAxis]);
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float Joystick::GetY(JoystickHand hand) const {
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return GetRawAxis(m_axes[kYAxis]);
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}
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/**
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* Get the Z value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetZ() const
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{
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return GetRawAxis(m_axes[kZAxis]);
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}
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float Joystick::GetZ() const { return GetRawAxis(m_axes[kZAxis]); }
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/**
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* Get the twist value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetTwist() const
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{
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return GetRawAxis(m_axes[kTwistAxis]);
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}
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float Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
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/**
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* Get the throttle value of the current joystick.
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* This depends on the mapping of the joystick connected to the current port.
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*/
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float Joystick::GetThrottle() const
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{
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return GetRawAxis(m_axes[kThrottleAxis]);
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float Joystick::GetThrottle() const {
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return GetRawAxis(m_axes[kThrottleAxis]);
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}
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/**
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@@ -158,33 +144,36 @@ float Joystick::GetThrottle() const
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* @param axis The axis to read, starting at 0.
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* @return The value of the axis.
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*/
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float Joystick::GetRawAxis(uint32_t axis) const
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{
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return m_ds->GetStickAxis(m_port, axis);
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float Joystick::GetRawAxis(uint32_t axis) const {
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return m_ds->GetStickAxis(m_port, axis);
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}
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/**
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* For the current joystick, return the axis determined by the argument.
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*
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* This is for cases where the joystick axis is returned programatically, otherwise one of the
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* This is for cases where the joystick axis is returned programatically,
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* otherwise one of the
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* previous functions would be preferable (for example GetX()).
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*
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* @param axis The axis to read.
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* @return The value of the axis.
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*/
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float Joystick::GetAxis(AxisType axis) const
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{
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switch(axis)
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{
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case kXAxis: return this->GetX();
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case kYAxis: return this->GetY();
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case kZAxis: return this->GetZ();
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case kTwistAxis: return this->GetTwist();
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case kThrottleAxis: return this->GetThrottle();
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default:
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wpi_setWPIError(BadJoystickAxis);
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return 0.0;
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}
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float Joystick::GetAxis(AxisType axis) const {
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switch (axis) {
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case kXAxis:
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return this->GetX();
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case kYAxis:
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return this->GetY();
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case kZAxis:
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return this->GetZ();
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case kTwistAxis:
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return this->GetTwist();
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case kThrottleAxis:
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return this->GetThrottle();
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default:
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wpi_setWPIError(BadJoystickAxis);
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return 0.0;
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}
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}
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/**
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@@ -192,12 +181,12 @@ float Joystick::GetAxis(AxisType axis) const
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*
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* Look up which button has been assigned to the trigger and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @param hand This parameter is ignored for the Joystick class and is only here
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* to complete the GenericHID interface.
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* @return The state of the trigger.
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*/
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bool Joystick::GetTrigger(JoystickHand hand) const
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{
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return GetRawButton(m_buttons[kTriggerButton]);
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bool Joystick::GetTrigger(JoystickHand hand) const {
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return GetRawButton(m_buttons[kTriggerButton]);
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}
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/**
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@@ -205,36 +194,35 @@ bool Joystick::GetTrigger(JoystickHand hand) const
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*
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* Look up which button has been assigned to the top and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only here to complete the GenericHID interface.
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* @param hand This parameter is ignored for the Joystick class and is only here
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* to complete the GenericHID interface.
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* @return The state of the top button.
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*/
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bool Joystick::GetTop(JoystickHand hand) const
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{
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return GetRawButton(m_buttons[kTopButton]);
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bool Joystick::GetTop(JoystickHand hand) const {
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return GetRawButton(m_buttons[kTopButton]);
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}
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/**
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* This is not supported for the Joystick.
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* This method is only here to complete the GenericHID interface.
|
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*/
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bool Joystick::GetBumper(JoystickHand hand) const
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{
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// Joysticks don't have bumpers.
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return false;
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bool Joystick::GetBumper(JoystickHand hand) const {
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// Joysticks don't have bumpers.
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return false;
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}
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/**
|
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* Get the button value (starting at button 1)
|
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*
|
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* The buttons are returned in a single 16 bit value with one bit representing the state
|
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* The buttons are returned in a single 16 bit value with one bit representing
|
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* the state
|
||||
* of each button. The appropriate button is returned as a boolean value.
|
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*
|
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* @param button The button number to be read (starting at 1)
|
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* @return The state of the button.
|
||||
**/
|
||||
bool Joystick::GetRawButton(uint32_t button) const
|
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{
|
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return m_ds->GetStickButton(m_port, button);
|
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bool Joystick::GetRawButton(uint32_t button) const {
|
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return m_ds->GetStickButton(m_port, button);
|
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}
|
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|
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/**
|
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@@ -244,7 +232,7 @@ bool Joystick::GetRawButton(uint32_t button) const
|
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* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
|
||||
*/
|
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int Joystick::GetPOV(uint32_t pov) const {
|
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return m_ds->GetStickPOV(m_port, pov);
|
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return m_ds->GetStickPOV(m_port, pov);
|
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}
|
||||
|
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/**
|
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@@ -255,15 +243,15 @@ int Joystick::GetPOV(uint32_t pov) const {
|
||||
* @param button The type of button to read.
|
||||
* @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;
|
||||
}
|
||||
bool Joystick::GetButton(ButtonType button) const {
|
||||
switch (button) {
|
||||
case kTriggerButton:
|
||||
return GetTrigger();
|
||||
case kTopButton:
|
||||
return GetTop();
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -271,29 +259,22 @@ bool Joystick::GetButton(ButtonType button) const
|
||||
*
|
||||
* @return the number of axis for the current joystick
|
||||
*/
|
||||
int Joystick::GetAxisCount() const
|
||||
{
|
||||
return m_ds->GetStickAxisCount(m_port);
|
||||
}
|
||||
int Joystick::GetAxisCount() const { return m_ds->GetStickAxisCount(m_port); }
|
||||
|
||||
/**
|
||||
* Get the value of isXbox for the joystick.
|
||||
*
|
||||
* @return A boolean that is true if the joystick is an xbox controller.
|
||||
*/
|
||||
bool Joystick::GetIsXbox() const
|
||||
{
|
||||
return m_ds->GetJoystickIsXbox(m_port);
|
||||
}
|
||||
bool Joystick::GetIsXbox() const { return m_ds->GetJoystickIsXbox(m_port); }
|
||||
|
||||
/**
|
||||
* Get the HID type of the controller.
|
||||
*
|
||||
* @return the HID type of the controller.
|
||||
*/
|
||||
Joystick::HIDType Joystick::GetType() const
|
||||
{
|
||||
return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
|
||||
Joystick::HIDType Joystick::GetType() const {
|
||||
return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -301,25 +282,20 @@ Joystick::HIDType Joystick::GetType() const
|
||||
*
|
||||
* @return the name of the controller.
|
||||
*/
|
||||
std::string Joystick::GetName() const
|
||||
{
|
||||
return m_ds->GetJoystickName(m_port);
|
||||
}
|
||||
std::string Joystick::GetName() const { return m_ds->GetJoystickName(m_port); }
|
||||
|
||||
//int Joystick::GetAxisType(uint8_t axis) const
|
||||
// int Joystick::GetAxisType(uint8_t axis) const
|
||||
//{
|
||||
// return m_ds->GetJoystickAxisType(m_port, axis);
|
||||
//}
|
||||
|
||||
|
||||
/**
|
||||
* Get the number of axis for a joystick
|
||||
*
|
||||
* @return the number of buttons on the current joystick
|
||||
*/
|
||||
int Joystick::GetButtonCount() const
|
||||
{
|
||||
return m_ds->GetStickButtonCount(m_port);
|
||||
int Joystick::GetButtonCount() const {
|
||||
return m_ds->GetStickButtonCount(m_port);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -327,11 +303,7 @@ int Joystick::GetButtonCount() const
|
||||
*
|
||||
* @return then umber of POVs for the current joystick
|
||||
*/
|
||||
int Joystick::GetPOVCount() const
|
||||
{
|
||||
return m_ds->GetStickPOVCount(m_port);
|
||||
}
|
||||
|
||||
int Joystick::GetPOVCount() const { return m_ds->GetStickPOVCount(m_port); }
|
||||
|
||||
/**
|
||||
* Get the channel currently associated with the specified axis.
|
||||
@@ -339,10 +311,7 @@ int Joystick::GetPOVCount() const
|
||||
* @param axis The axis to look up the channel for.
|
||||
* @return The channel fr the axis.
|
||||
*/
|
||||
uint32_t Joystick::GetAxisChannel(AxisType axis) const
|
||||
{
|
||||
return m_axes[axis];
|
||||
}
|
||||
uint32_t Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
|
||||
|
||||
/**
|
||||
* Set the channel associated with a specified axis.
|
||||
@@ -350,9 +319,8 @@ uint32_t Joystick::GetAxisChannel(AxisType axis) const
|
||||
* @param axis The axis to set the channel for.
|
||||
* @param channel The channel to set the axis to.
|
||||
*/
|
||||
void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
|
||||
{
|
||||
m_axes[axis] = channel;
|
||||
void Joystick::SetAxisChannel(AxisType axis, uint32_t channel) {
|
||||
m_axes[axis] = channel;
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -362,7 +330,7 @@ void Joystick::SetAxisChannel(AxisType axis, uint32_t channel)
|
||||
* @return The magnitude of the direction vector
|
||||
*/
|
||||
float Joystick::GetMagnitude() const {
|
||||
return sqrt(pow(GetX(),2) + pow(GetY(),2) );
|
||||
return sqrt(pow(GetX(), 2) + pow(GetY(), 2));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -371,9 +339,7 @@ float Joystick::GetMagnitude() const {
|
||||
*
|
||||
* @return The direction of the vector in radians
|
||||
*/
|
||||
float Joystick::GetDirectionRadians() const {
|
||||
return atan2(GetX(), -GetY());
|
||||
}
|
||||
float Joystick::GetDirectionRadians() const { return atan2(GetX(), -GetY()); }
|
||||
|
||||
/**
|
||||
* Get the direction of the vector formed by the joystick and its origin
|
||||
@@ -385,25 +351,26 @@ float Joystick::GetDirectionRadians() const {
|
||||
* @return The direction of the vector in degrees
|
||||
*/
|
||||
float Joystick::GetDirectionDegrees() const {
|
||||
return (180/acos(-1))*GetDirectionRadians();
|
||||
return (180 / acos(-1)) * GetDirectionRadians();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the rumble output for the joystick. The DS currently supports 2 rumble values,
|
||||
* Set the rumble output for the joystick. The DS currently supports 2 rumble
|
||||
* values,
|
||||
* left rumble and right rumble
|
||||
* @param type Which rumble value to set
|
||||
* @param value The normalized value (0 to 1) to set the rumble to
|
||||
*/
|
||||
void Joystick::SetRumble(RumbleType type, float value) {
|
||||
if (value < 0)
|
||||
value = 0;
|
||||
else if (value > 1)
|
||||
value = 1;
|
||||
if (type == kLeftRumble)
|
||||
m_leftRumble = value*65535;
|
||||
else
|
||||
m_rightRumble = value*65535;
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
if (value < 0)
|
||||
value = 0;
|
||||
else if (value > 1)
|
||||
value = 1;
|
||||
if (type == kLeftRumble)
|
||||
m_leftRumble = value * 65535;
|
||||
else
|
||||
m_rightRumble = value * 65535;
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -411,11 +378,12 @@ void Joystick::SetRumble(RumbleType type, float value) {
|
||||
* @param outputNumber The index of the output to set (1-32)
|
||||
* @param value The value to set the output to
|
||||
*/
|
||||
|
||||
void Joystick::SetOutput(uint8_t outputNumber, bool value) {
|
||||
m_outputs = (m_outputs & ~(1 << (outputNumber-1))) | (value << (outputNumber-1));
|
||||
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
void Joystick::SetOutput(uint8_t outputNumber, bool value) {
|
||||
m_outputs =
|
||||
(m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1));
|
||||
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -423,8 +391,6 @@ void Joystick::SetOutput(uint8_t outputNumber, bool value) {
|
||||
* @param value The 32 bit output value (1 bit for each output)
|
||||
*/
|
||||
void Joystick::SetOutputs(uint32_t value) {
|
||||
m_outputs = value;
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
m_outputs = value;
|
||||
HALSetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble);
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user