[wpilib] Add support for the PS5 DualSense controller (#5257)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpilibc/src/main/native/cpp/PS5Controller.cpp

@@ -0,0 +1,263 @@
+// 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/PS5Controller.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+PS5Controller::PS5Controller(int port) : GenericHID(port) {
+  // HAL_Report(HALUsageReporting::kResourceType_PS5Controller, port + 1);
+}
+
+double PS5Controller::GetLeftX() const {
+  return GetRawAxis(Axis::kLeftX);
+}
+
+double PS5Controller::GetRightX() const {
+  return GetRawAxis(Axis::kRightX);
+}
+
+double PS5Controller::GetLeftY() const {
+  return GetRawAxis(Axis::kLeftY);
+}
+
+double PS5Controller::GetRightY() const {
+  return GetRawAxis(Axis::kRightY);
+}
+
+double PS5Controller::GetL2Axis() const {
+  return GetRawAxis(Axis::kL2);
+}
+
+double PS5Controller::GetR2Axis() const {
+  return GetRawAxis(Axis::kR2);
+}
+
+bool PS5Controller::GetSquareButton() const {
+  return GetRawButton(Button::kSquare);
+}
+
+bool PS5Controller::GetSquareButtonPressed() {
+  return GetRawButtonPressed(Button::kSquare);
+}
+
+bool PS5Controller::GetSquareButtonReleased() {
+  return GetRawButtonReleased(Button::kSquare);
+}
+
+BooleanEvent PS5Controller::Square(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetSquareButton(); });
+}
+
+bool PS5Controller::GetCrossButton() const {
+  return GetRawButton(Button::kCross);
+}
+
+bool PS5Controller::GetCrossButtonPressed() {
+  return GetRawButtonPressed(Button::kCross);
+}
+
+bool PS5Controller::GetCrossButtonReleased() {
+  return GetRawButtonReleased(Button::kCross);
+}
+
+BooleanEvent PS5Controller::Cross(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetCrossButton(); });
+}
+
+bool PS5Controller::GetCircleButton() const {
+  return GetRawButton(Button::kCircle);
+}
+
+bool PS5Controller::GetCircleButtonPressed() {
+  return GetRawButtonPressed(Button::kCircle);
+}
+
+bool PS5Controller::GetCircleButtonReleased() {
+  return GetRawButtonReleased(Button::kCircle);
+}
+
+BooleanEvent PS5Controller::Circle(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetCircleButton(); });
+}
+
+bool PS5Controller::GetTriangleButton() const {
+  return GetRawButton(Button::kTriangle);
+}
+
+bool PS5Controller::GetTriangleButtonPressed() {
+  return GetRawButtonPressed(Button::kTriangle);
+}
+
+bool PS5Controller::GetTriangleButtonReleased() {
+  return GetRawButtonReleased(Button::kTriangle);
+}
+
+BooleanEvent PS5Controller::Triangle(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTriangleButton(); });
+}
+
+bool PS5Controller::GetL1Button() const {
+  return GetRawButton(Button::kL1);
+}
+
+bool PS5Controller::GetL1ButtonPressed() {
+  return GetRawButtonPressed(Button::kL1);
+}
+
+bool PS5Controller::GetL1ButtonReleased() {
+  return GetRawButtonReleased(Button::kL1);
+}
+
+BooleanEvent PS5Controller::L1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL1Button(); });
+}
+
+bool PS5Controller::GetR1Button() const {
+  return GetRawButton(Button::kR1);
+}
+
+bool PS5Controller::GetR1ButtonPressed() {
+  return GetRawButtonPressed(Button::kR1);
+}
+
+bool PS5Controller::GetR1ButtonReleased() {
+  return GetRawButtonReleased(Button::kR1);
+}
+
+BooleanEvent PS5Controller::R1(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR1Button(); });
+}
+
+bool PS5Controller::GetL2Button() const {
+  return GetRawButton(Button::kL2);
+}
+
+bool PS5Controller::GetL2ButtonPressed() {
+  return GetRawButtonPressed(Button::kL2);
+}
+
+bool PS5Controller::GetL2ButtonReleased() {
+  return GetRawButtonReleased(Button::kL2);
+}
+
+BooleanEvent PS5Controller::L2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL2Button(); });
+}
+
+bool PS5Controller::GetR2Button() const {
+  return GetRawButton(Button::kR2);
+}
+
+bool PS5Controller::GetR2ButtonPressed() {
+  return GetRawButtonPressed(Button::kR2);
+}
+
+bool PS5Controller::GetR2ButtonReleased() {
+  return GetRawButtonReleased(Button::kR2);
+}
+
+BooleanEvent PS5Controller::R2(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR2Button(); });
+}
+
+bool PS5Controller::GetCreateButton() const {
+  return GetRawButton(Button::kCreate);
+}
+
+bool PS5Controller::GetCreateButtonPressed() {
+  return GetRawButtonPressed(Button::kCreate);
+}
+
+bool PS5Controller::GetCreateButtonReleased() {
+  return GetRawButtonReleased(Button::kCreate);
+}
+
+BooleanEvent PS5Controller::Create(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetCreateButton(); });
+}
+
+bool PS5Controller::GetOptionsButton() const {
+  return GetRawButton(Button::kOptions);
+}
+
+bool PS5Controller::GetOptionsButtonPressed() {
+  return GetRawButtonPressed(Button::kOptions);
+}
+
+bool PS5Controller::GetOptionsButtonReleased() {
+  return GetRawButtonReleased(Button::kOptions);
+}
+
+BooleanEvent PS5Controller::Options(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetOptionsButton(); });
+}
+
+bool PS5Controller::GetL3Button() const {
+  return GetRawButton(Button::kL3);
+}
+
+bool PS5Controller::GetL3ButtonPressed() {
+  return GetRawButtonPressed(Button::kL3);
+}
+
+bool PS5Controller::GetL3ButtonReleased() {
+  return GetRawButtonReleased(Button::kL3);
+}
+
+BooleanEvent PS5Controller::L3(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetL3Button(); });
+}
+
+bool PS5Controller::GetR3Button() const {
+  return GetRawButton(Button::kR3);
+}
+
+bool PS5Controller::GetR3ButtonPressed() {
+  return GetRawButtonPressed(Button::kR3);
+}
+
+bool PS5Controller::GetR3ButtonReleased() {
+  return GetRawButtonReleased(Button::kR3);
+}
+
+BooleanEvent PS5Controller::R3(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetR3Button(); });
+}
+
+bool PS5Controller::GetPSButton() const {
+  return GetRawButton(Button::kPS);
+}
+
+bool PS5Controller::GetPSButtonPressed() {
+  return GetRawButtonPressed(Button::kPS);
+}
+
+bool PS5Controller::GetPSButtonReleased() {
+  return GetRawButtonReleased(Button::kPS);
+}
+
+BooleanEvent PS5Controller::PS(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
+}
+
+bool PS5Controller::GetTouchpad() const {
+  return GetRawButton(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadPressed() {
+  return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadReleased() {
+  return GetRawButtonReleased(Button::kTouchpad);
+}
+
+BooleanEvent PS5Controller::Touchpad(EventLoop* loop) const {
+  return BooleanEvent(loop, [this]() { return this->GetTouchpad(); });
+}

wpilibc/src/main/native/cpp/simulation/PS5ControllerSim.cpp

@@ -0,0 +1,103 @@
+// 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/simulation/PS5ControllerSim.h"
+
+#include "frc/PS5Controller.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+PS5ControllerSim::PS5ControllerSim(const PS5Controller& joystick)
+    : GenericHIDSim{joystick} {
+  SetAxisCount(6);
+  SetButtonCount(14);
+  SetPOVCount(1);
+}
+
+PS5ControllerSim::PS5ControllerSim(int port) : GenericHIDSim{port} {
+  SetAxisCount(6);
+  SetButtonCount(14);
+  SetPOVCount(1);
+}
+
+void PS5ControllerSim::SetLeftX(double value) {
+  SetRawAxis(PS5Controller::Axis::kLeftX, value);
+}
+
+void PS5ControllerSim::SetRightX(double value) {
+  SetRawAxis(PS5Controller::Axis::kRightX, value);
+}
+
+void PS5ControllerSim::SetLeftY(double value) {
+  SetRawAxis(PS5Controller::Axis::kLeftY, value);
+}
+
+void PS5ControllerSim::SetRightY(double value) {
+  SetRawAxis(PS5Controller::Axis::kRightY, value);
+}
+
+void PS5ControllerSim::SetL2Axis(double value) {
+  SetRawAxis(PS5Controller::Axis::kL2, value);
+}
+
+void PS5ControllerSim::SetR2Axis(double value) {
+  SetRawAxis(PS5Controller::Axis::kR2, value);
+}
+
+void PS5ControllerSim::SetSquareButton(bool value) {
+  SetRawButton(PS5Controller::Button::kSquare, value);
+}
+
+void PS5ControllerSim::SetCrossButton(bool value) {
+  SetRawButton(PS5Controller::Button::kCross, value);
+}
+
+void PS5ControllerSim::SetCircleButton(bool value) {
+  SetRawButton(PS5Controller::Button::kCircle, value);
+}
+
+void PS5ControllerSim::SetTriangleButton(bool value) {
+  SetRawButton(PS5Controller::Button::kTriangle, value);
+}
+
+void PS5ControllerSim::SetL1Button(bool value) {
+  SetRawButton(PS5Controller::Button::kL1, value);
+}
+
+void PS5ControllerSim::SetR1Button(bool value) {
+  SetRawButton(PS5Controller::Button::kR1, value);
+}
+
+void PS5ControllerSim::SetL2Button(bool value) {
+  SetRawButton(PS5Controller::Button::kL2, value);
+}
+
+void PS5ControllerSim::SetR2Button(bool value) {
+  SetRawButton(PS5Controller::Button::kR2, value);
+}
+
+void PS5ControllerSim::SetCreateButton(bool value) {
+  SetRawButton(PS5Controller::Button::kCreate, value);
+}
+
+void PS5ControllerSim::SetOptionsButton(bool value) {
+  SetRawButton(PS5Controller::Button::kOptions, value);
+}
+
+void PS5ControllerSim::SetL3Button(bool value) {
+  SetRawButton(PS5Controller::Button::kL3, value);
+}
+
+void PS5ControllerSim::SetR3Button(bool value) {
+  SetRawButton(PS5Controller::Button::kR3, value);
+}
+
+void PS5ControllerSim::SetPSButton(bool value) {
+  SetRawButton(PS5Controller::Button::kPS, value);
+}
+
+void PS5ControllerSim::SetTouchpad(bool value) {
+  SetRawButton(PS5Controller::Button::kTouchpad, value);
+}