[sim] Add joystick simulation support (#2595)

This adds joystick functions to DriverStationSim, and new GenericHIDSim,
JoystickSim, and XboxControllerSim classes.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -18,11 +18,11 @@ import edu.wpi.first.hal.HAL;
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
 public class Joystick extends GenericHID {
-  static final byte kDefaultXChannel = 0;
-  static final byte kDefaultYChannel = 1;
-  static final byte kDefaultZChannel = 2;
-  static final byte kDefaultTwistChannel = 2;
-  static final byte kDefaultThrottleChannel = 3;
+  public static final byte kDefaultXChannel = 0;
+  public static final byte kDefaultYChannel = 1;
+  public static final byte kDefaultZChannel = 2;
+  public static final byte kDefaultTwistChannel = 2;
+  public static final byte kDefaultThrottleChannel = 3;
 
   /**
    * Represents an analog axis on a joystick.

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java

@@ -7,13 +7,15 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
+import edu.wpi.first.hal.AllianceStationID;
 import edu.wpi.first.hal.simulation.DriverStationDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.DriverStation;
 
 /**
  * Class to control a simulated driver station.
  */
-@SuppressWarnings("PMD.UseUtilityClass")
+@SuppressWarnings({"PMD.UseUtilityClass", "PMD.GodClass", "PMD.ExcessivePublicCount"})
 public class DriverStationSim {
   public static CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerEnabledCallback(callback, initialNotify);
@@ -80,19 +82,291 @@ public class DriverStationSim {
   public static void setDsAttached(boolean dsAttached) {
     DriverStationDataJNI.setDsAttached(dsAttached);
   }
-  public static void notifyNewData() {
-    DriverStationDataJNI.notifyNewData();
+
+  public static CallbackStore registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DriverStationDataJNI.registerAllianceStationIdCallback(callback, initialNotify);
+    return new CallbackStore(uid, DriverStationDataJNI::cancelAllianceStationIdCallback);
+  }
+  public static AllianceStationID getAllianceStationId() {
+    switch (DriverStationDataJNI.getAllianceStationId()) {
+      case 0:
+        return AllianceStationID.Red1;
+      case 1:
+        return AllianceStationID.Red2;
+      case 2:
+        return AllianceStationID.Red3;
+      case 3:
+        return AllianceStationID.Blue1;
+      case 4:
+        return AllianceStationID.Blue2;
+      case 5:
+        return AllianceStationID.Blue3;
+      default:
+        return null;
+    }
+  }
+  public static void setAllianceStationId(AllianceStationID allianceStationId) {
+    int allianceStation;
+    switch (allianceStationId) {
+      case Red1:
+        allianceStation = 0;
+        break;
+      case Red2:
+        allianceStation = 1;
+        break;
+      case Red3:
+        allianceStation = 2;
+        break;
+      case Blue1:
+        allianceStation = 3;
+        break;
+      case Blue2:
+        allianceStation = 4;
+        break;
+      case Blue3:
+        allianceStation = 5;
+        break;
+      default:
+        return;
+    }
+    DriverStationDataJNI.setAllianceStationId(allianceStation);
+  }
+
+  public static CallbackStore registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DriverStationDataJNI.registerMatchTimeCallback(callback, initialNotify);
+    return new CallbackStore(uid, DriverStationDataJNI::cancelMatchTimeCallback);
+  }
+  public static double getMatchTime() {
+    return DriverStationDataJNI.getMatchTime();
+  }
+  public static void setMatchTime(double matchTime) {
+    DriverStationDataJNI.setMatchTime(matchTime);
   }
 
   /**
-   * Toggles suppression of DriverStation.reportError and reportWarning messages.
+   * Updates DriverStation data so that new values are visible to the user
+   * program.
+   */
+  public static void notifyNewData() {
+    DriverStationDataJNI.notifyNewData();
+    DriverStation.getInstance().waitForData();
+  }
+
+  /**
+   * Sets suppression of DriverStation.reportError and reportWarning messages.
    *
-   * @param shouldSend If false then messages will will be suppressed.
+   * @param shouldSend If false then messages will be suppressed.
    */
   public static void setSendError(boolean shouldSend) {
     DriverStationDataJNI.setSendError(shouldSend);
   }
 
+  /**
+   * Sets suppression of DriverStation.sendConsoleLine messages.
+   *
+   * @param shouldSend If false then messages will be suppressed.
+   */
+  public static void setSendConsoleLine(boolean shouldSend) {
+    DriverStationDataJNI.setSendConsoleLine(shouldSend);
+  }
+
+  /**
+   * Gets the joystick outputs.
+   *
+   * @param stick The joystick number
+   * @return The joystick outputs
+   */
+  public static long getJoystickOutputs(int stick) {
+    return DriverStationDataJNI.getJoystickOutputs(stick);
+  }
+
+  /**
+   * Gets the joystick rumble.
+   *
+   * @param stick The joystick number
+   * @param rumbleNum Rumble to get (0=left, 1=right)
+   * @return The joystick rumble value
+   */
+  public static int getJoystickRumble(int stick, int rumbleNum) {
+    return DriverStationDataJNI.getJoystickRumble(stick, rumbleNum);
+  }
+
+  /**
+   * Sets the state of one joystick button. Button indexes begin at 1.
+   *
+   * @param stick  The joystick number
+   * @param button The button index, beginning at 1
+   * @param state The state of the joystick button
+   */
+  public static void setJoystickButton(int stick, int button, boolean state) {
+    DriverStationDataJNI.setJoystickButton(stick, button, state);
+  }
+
+  /**
+   * Gets the value of the axis on a joystick.
+   *
+   * @param stick The joystick number
+   * @param axis  The analog axis number
+   * @param value The value of the axis on the joystick
+   */
+  public static void setJoystickAxis(int stick, int axis, double value) {
+    DriverStationDataJNI.setJoystickAxis(stick, axis, value);
+  }
+
+  /**
+   * Gets the state of a POV on a joystick.
+   *
+   * @param stick The joystick number
+   * @param pov The POV number
+   * @param value the angle of the POV in degrees, or -1 for not pressed
+   */
+  public static void setJoystickPOV(int stick, int pov, int value) {
+    DriverStationDataJNI.setJoystickPOV(stick, pov, value);
+  }
+
+  /**
+   * Sets the state of all the buttons on a joystick.
+   *
+   * @param stick The joystick number
+   * @param buttons The bitmap state of the buttons on the joystick
+   */
+  public static void setJoystickButtons(int stick, int buttons) {
+    DriverStationDataJNI.setJoystickButtonsValue(stick, buttons);
+  }
+
+  /**
+   * Sets the number of axes for a joystick.
+   *
+   * @param stick The joystick number
+   * @param count The number of axes on the indicated joystick
+   */
+  public static void setJoystickAxisCount(int stick, int count) {
+    DriverStationDataJNI.setJoystickAxisCount(stick, count);
+  }
+
+  /**
+   * Sets the number of POVs for a joystick.
+   *
+   * @param stick The joystick number
+   * @param count The number of POVs on the indicated joystick
+   */
+  public static void setJoystickPOVCount(int stick, int count) {
+    DriverStationDataJNI.setJoystickPOVCount(stick, count);
+  }
+
+  /**
+   * Sets the number of buttons for a joystick.
+   *
+   * @param stick The joystick number
+   * @param count The number of buttons on the indicated joystick
+   */
+  public static void setJoystickButtonCount(int stick, int count) {
+    DriverStationDataJNI.setJoystickButtonCount(stick, count);
+  }
+
+  /**
+   * Sets the value of isXbox for a joystick.
+   *
+   * @param stick The joystick number
+   * @param isXbox The value of isXbox
+   */
+  public static void setJoystickIsXbox(int stick, boolean isXbox) {
+    DriverStationDataJNI.setJoystickIsXbox(stick, isXbox);
+  }
+
+  /**
+   * Sets the value of type for a joystick.
+   *
+   * @param stick The joystick number
+   * @param type The value of type
+   */
+  public static void setJoystickType(int stick, int type) {
+    DriverStationDataJNI.setJoystickType(stick, type);
+  }
+
+  /**
+   * Sets the name of a joystick.
+   *
+   * @param stick The joystick number
+   * @param name The value of name
+   */
+  public static void setJoystickName(int stick, String name) {
+    DriverStationDataJNI.setJoystickName(stick, name);
+  }
+
+  /**
+   * Sets the types of Axes for a joystick.
+   *
+   * @param stick The joystick number
+   * @param axis The target axis
+   * @param type The type of axis
+   */
+  public static void setJoystickAxisType(int stick, int axis, int type) {
+    DriverStationDataJNI.setJoystickAxisType(stick, axis, type);
+  }
+
+  /**
+   * Sets the game specific message.
+   *
+   * @param message the game specific message
+   */
+  public static void setGameSpecificMessage(String message) {
+    DriverStationDataJNI.setGameSpecificMessage(message);
+  }
+
+  /**
+   * Sets the event name.
+   *
+   * @param name the event name
+   */
+  public static void setEventName(String name) {
+    DriverStationDataJNI.setEventName(name);
+  }
+
+  /**
+   * Sets the match type.
+   *
+   * @param type the match type
+   */
+  public static void setMatchType(DriverStation.MatchType type) {
+    int matchType;
+    switch (type) {
+      case Practice:
+        matchType = 1;
+        break;
+      case Qualification:
+        matchType = 2;
+        break;
+      case Elimination:
+        matchType = 3;
+        break;
+      case None:
+        matchType = 0;
+        break;
+      default:
+        return;
+    }
+    DriverStationDataJNI.setMatchType(matchType);
+  }
+
+  /**
+   * Sets the match number.
+   *
+   * @param matchNumber the match number
+   */
+  public static void setMatchNumber(int matchNumber) {
+    DriverStationDataJNI.setMatchNumber(matchNumber);
+  }
+
+  /**
+   * Sets the replay number.
+   *
+   * @param replayNumber the replay number
+   */
+  public static void setReplayNumber(int replayNumber) {
+    DriverStationDataJNI.setReplayNumber(replayNumber);
+  }
+
   public static void resetData() {
     DriverStationDataJNI.resetData();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java

@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.GenericHID;
+
+/**
+ * Class to control a simulated generic joystick.
+ */
+public class GenericHIDSim {
+  protected final int m_port;
+
+  /**
+   * Constructs from a GenericHID object.
+   *
+   * @param joystick joystick to simulate
+   */
+  public GenericHIDSim(GenericHID joystick) {
+    m_port = joystick.getPort();
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  public GenericHIDSim(int port) {
+    m_port = port;
+  }
+
+  /**
+   * Updates joystick data so that new values are visible to the user program.
+   */
+  public void notifyNewData() {
+    DriverStationSim.notifyNewData();
+  }
+
+  public void setRawButton(int button, boolean value) {
+    DriverStationSim.setJoystickButton(m_port, button, value);
+  }
+
+  public void setRawAxis(int axis, double value) {
+    DriverStationSim.setJoystickAxis(m_port, axis, value);
+  }
+
+  public void setPOV(int pov, int value) {
+    DriverStationSim.setJoystickPOV(m_port, pov, value);
+  }
+
+  public void setPOV(int value) {
+    setPOV(0, value);
+  }
+
+  public void setAxisCount(int count) {
+    DriverStationSim.setJoystickAxisCount(m_port, count);
+  }
+
+  public void setPOVCount(int count) {
+    DriverStationSim.setJoystickPOVCount(m_port, count);
+  }
+
+  public void setButtonCount(int count) {
+    DriverStationSim.setJoystickButtonCount(m_port, count);
+  }
+
+  public void setType(GenericHID.HIDType type) {
+    DriverStationSim.setJoystickType(m_port, type.value);
+  }
+
+  public void setName(String name) {
+    DriverStationSim.setJoystickName(m_port, name);
+  }
+
+  public void setAxisType(int axis, int type) {
+    DriverStationSim.setJoystickAxisType(m_port, axis, type);
+  }
+
+  public boolean getOutput(int outputNumber) {
+    long outputs = getOutputs();
+    return (outputs & (1 << (outputNumber - 1))) != 0;
+  }
+
+  public long getOutputs() {
+    return DriverStationSim.getJoystickOutputs(m_port);
+  }
+
+  public double getRumble(GenericHID.RumbleType type) {
+    int value = DriverStationSim.getJoystickRumble(
+        m_port, type == GenericHID.RumbleType.kLeftRumble ? 0 : 1);
+    return value / 65535.0;
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/JoystickSim.java

@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.Joystick;
+
+/**
+ * Class to control a simulated joystick.
+ */
+public class JoystickSim extends GenericHIDSim {
+  private Joystick m_joystick;
+
+  /**
+   * Constructs from a Joystick object.
+   *
+   * @param joystick joystick to simulate
+   */
+  public JoystickSim(Joystick joystick) {
+    super(joystick);
+    m_joystick = joystick;
+    // default to a reasonable joystick configuration
+    setAxisCount(5);
+    setButtonCount(12);
+    setPOVCount(1);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  public JoystickSim(int port) {
+    super(port);
+    // default to a reasonable joystick configuration
+    setAxisCount(5);
+    setButtonCount(12);
+    setPOVCount(1);
+  }
+
+  public void setX(double value) {
+    setRawAxis(m_joystick != null ? m_joystick.getXChannel() : Joystick.kDefaultXChannel, value);
+  }
+
+  public void setY(double value) {
+    setRawAxis(m_joystick != null ? m_joystick.getYChannel() : Joystick.kDefaultYChannel, value);
+  }
+
+  public void setZ(double value) {
+    setRawAxis(m_joystick != null ? m_joystick.getZChannel() : Joystick.kDefaultZChannel, value);
+  }
+
+  public void setTwist(double value) {
+    setRawAxis(
+        m_joystick != null ? m_joystick.getTwistChannel() : Joystick.kDefaultTwistChannel,
+        value);
+  }
+
+  public void setThrottle(double value) {
+    setRawAxis(
+        m_joystick != null ? m_joystick.getThrottleChannel() : Joystick.kDefaultThrottleChannel,
+        value);
+  }
+
+  public void setTrigger(boolean state) {
+    setRawButton(1, state);
+  }
+
+  public void setTop(boolean state) {
+    setRawButton(2, state);
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/XboxControllerSim.java

@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+
+/**
+ * Class to control a simulated Xbox 360 or Xbox One controller.
+ */
+public class XboxControllerSim extends GenericHIDSim {
+  /**
+   * Constructs from a XboxController object.
+   *
+   * @param joystick controller to simulate
+   */
+  public XboxControllerSim(XboxController joystick) {
+    super(joystick);
+    setAxisCount(6);
+    setButtonCount(10);
+  }
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  public XboxControllerSim(int port) {
+    super(port);
+    setAxisCount(6);
+    setButtonCount(10);
+  }
+
+  public void setX(GenericHID.Hand hand, double value) {
+    if (hand.equals(GenericHID.Hand.kLeft)) {
+      setRawAxis(XboxController.Axis.kLeftX.value, value);
+    } else {
+      setRawAxis(XboxController.Axis.kRightX.value, value);
+    }
+  }
+
+  public void setY(GenericHID.Hand hand, double value) {
+    if (hand.equals(GenericHID.Hand.kLeft)) {
+      setRawAxis(XboxController.Axis.kLeftY.value, value);
+    } else {
+      setRawAxis(XboxController.Axis.kRightY.value, value);
+    }
+  }
+
+  public void setTriggerAxis(GenericHID.Hand hand, double value) {
+    if (hand.equals(GenericHID.Hand.kLeft)) {
+      setRawAxis(XboxController.Axis.kLeftTrigger.value, value);
+    } else {
+      setRawAxis(XboxController.Axis.kRightTrigger.value, value);
+    }
+  }
+
+  public void setBumper(GenericHID.Hand hand, boolean state) {
+    if (hand.equals(GenericHID.Hand.kLeft)) {
+      setRawButton(XboxController.Button.kBumperLeft.value, state);
+    } else {
+      setRawButton(XboxController.Button.kBumperRight.value, state);
+    }
+  }
+
+  public void setStickButton(GenericHID.Hand hand, boolean state) {
+    if (hand.equals(GenericHID.Hand.kLeft)) {
+      setRawButton(XboxController.Button.kStickLeft.value, state);
+    } else {
+      setRawButton(XboxController.Button.kStickRight.value, state);
+    }
+  }
+
+  public void setAButton(boolean state) {
+    setRawButton(XboxController.Button.kA.value, state);
+  }
+
+  public void setBButton(boolean state) {
+    setRawButton(XboxController.Button.kB.value, state);
+  }
+
+  public void setXButton(boolean state) {
+    setRawButton(XboxController.Button.kX.value, state);
+  }
+
+  public void setYButton(boolean state) {
+    setRawButton(XboxController.Button.kY.value, state);
+  }
+
+  public void setBackButton(boolean state) {
+    setRawButton(XboxController.Button.kBack.value, state);
+  }
+
+  public void setStartButton(boolean state) {
+    setRawButton(XboxController.Button.kStart.value, state);
+  }
+}