[wpilib] Add StadiaController and command wrapper (#6083)

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp

@@ -0,0 +1,72 @@
+// 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 "frc2/command/button/CommandStadiaController.h"
+
+using namespace frc2;
+
+Trigger CommandStadiaController::Button(int button,
+                                        frc::EventLoop* loop) const {
+  return GenericHID::Button(button, loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
+  return StadiaController::LeftBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
+  return StadiaController::RightBumper(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
+  return StadiaController::LeftStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
+  return StadiaController::RightStick(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
+  return StadiaController::A(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
+  return StadiaController::B(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
+  return StadiaController::X(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
+  return StadiaController::Y(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
+  return StadiaController::Ellipses(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
+  return StadiaController::Hamburger(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
+  return StadiaController::Stadia(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
+  return StadiaController::Google(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
+  return StadiaController::Frame(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
+  return StadiaController::LeftTrigger(loop).CastTo<Trigger>();
+}
+
+Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
+  return StadiaController::RightTrigger(loop).CastTo<Trigger>();
+}

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h

@@ -0,0 +1,201 @@
+// 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.
+
+#pragma once
+#include <frc/StadiaController.h>
+
+#include "Trigger.h"
+#include "frc2/command/CommandScheduler.h"
+
+namespace frc2 {
+/**
+ * A version of {@link StadiaController} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see StadiaController
+ */
+class CommandStadiaController : public frc::StadiaController {
+ public:
+  using StadiaController::StadiaController;
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(int button,
+                 frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the left bumper's digital signal
+   * attached to the given loop.
+   */
+  Trigger LeftBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the right bumper's digital signal
+   * attached to the given loop.
+   */
+  Trigger RightBumper(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the left stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the left stick's digital signal
+   * attached to the given loop.
+   */
+  Trigger LeftStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the right stick's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the right stick's digital signal
+   * attached to the given loop.
+   */
+  Trigger RightStick(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the A button's digital signal
+   * attached to the given loop.
+   */
+  Trigger A(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the B button's digital signal
+   * attached to the given loop.
+   */
+  Trigger B(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the X button's digital signal
+   * attached to the given loop.
+   */
+  Trigger X(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the Y button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Y(frc::EventLoop* loop =
+                CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the ellipses button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the ellipses button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Ellipses(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                              .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the hamburger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the hamburger button's digital
+   * signal attached to the given loop.
+   */
+  Trigger Hamburger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the stadia button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the stadia button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Stadia(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the google button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the google button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Google(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the frame button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the frame button's digital signal
+   * attached to the given loop.
+   */
+  Trigger Frame(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                           .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the left trigger's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the left trigger's digital signal
+   * attached to the given loop.
+   */
+  Trigger LeftTrigger(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+
+  /**
+   * Constructs an event instance around the right trigger's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the right trigger's digital signal
+   * attached to the given loop.
+   */
+  Trigger RightTrigger(
+      frc::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+};
+}  // namespace frc2