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[wpilib] Add StadiaController and command wrapper (#6083)
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NC GEARS FRC 1918
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543
wpilibc/src/main/native/include/frc/StadiaController.h
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543
wpilibc/src/main/native/include/frc/StadiaController.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include "frc/GenericHID.h"
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namespace frc {
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/**
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* Handle input from Stadia controllers connected to the Driver
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* Station.
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*
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* This class handles Stadia input that comes from the Driver Station. Each time
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* a value is requested the most recent value is returned. There is a single
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* class instance for each controller and the mapping of ports to hardware
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* buttons depends on the code in the Driver Station.
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*/
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class StadiaController : public GenericHID {
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public:
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/**
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* Construct an instance of a Stadia controller.
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*
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* The controller index is the USB port on the Driver Station.
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*
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* @param port The port on the Driver Station that the controller is plugged
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* into (0-5).
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*/
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explicit StadiaController(int port);
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~StadiaController() override = default;
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StadiaController(StadiaController&&) = default;
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StadiaController& operator=(StadiaController&&) = default;
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/**
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* Get the X axis value of left side of the controller.
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*
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* @return the axis value
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*/
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double GetLeftX() const;
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/**
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* Get the X axis value of right side of the controller.
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*
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* @return the axis value
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*/
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double GetRightX() const;
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/**
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* Get the Y axis value of left side of the controller.
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*
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* @return the axis value
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*/
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double GetLeftY() const;
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/**
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* Get the Y axis value of right side of the controller.
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*
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* @return the axis value
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*/
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double GetRightY() const;
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/**
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* Read the value of the left bumper (LB) button on the controller.
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*
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* @return the state of the button
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*/
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bool GetLeftBumper() const;
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/**
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* Read the value of the right bumper (RB) button on the controller.
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*
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* @return the state of the button
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*/
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bool GetRightBumper() const;
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/**
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* Whether the left bumper (LB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check
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*/
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bool GetLeftBumperPressed();
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/**
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* Whether the right bumper (RB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check
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*/
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bool GetRightBumperPressed();
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/**
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* Whether the left bumper (LB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetLeftBumperReleased();
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/**
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* Whether the right bumper (RB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetRightBumperReleased();
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/**
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* Constructs an event instance around the left bumper's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left bumper's digital signal
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* attached to the given loop.
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*/
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BooleanEvent LeftBumper(EventLoop* loop) const;
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/**
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* Constructs an event instance around the right bumper's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right bumper's digital signal
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* attached to the given loop.
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*/
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BooleanEvent RightBumper(EventLoop* loop) const;
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/**
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* Read the value of the left stick button (LSB) on the controller.
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*
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* @return the state of the button
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*/
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bool GetLeftStickButton() const;
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/**
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* Read the value of the right stick button (RSB) on the controller.
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*
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* @return the state of the button
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*/
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bool GetRightStickButton() const;
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/**
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* Whether the left stick button (LSB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetLeftStickButtonPressed();
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/**
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* Whether the right stick button (RSB) was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check
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*/
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bool GetRightStickButtonPressed();
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/**
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* Whether the left stick button (LSB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetLeftStickButtonReleased();
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/**
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* Whether the right stick button (RSB) was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetRightStickButtonReleased();
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/**
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* Constructs an event instance around the left stick's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left stick's digital signal
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* attached to the given loop.
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*/
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BooleanEvent LeftStick(EventLoop* loop) const;
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/**
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* Constructs an event instance around the right stick's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right stick's digital signal
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* attached to the given loop.
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*/
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BooleanEvent RightStick(EventLoop* loop) const;
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/**
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* Read the value of the A button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetAButton() const;
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/**
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* Whether the A button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetAButtonPressed();
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/**
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* Whether the A button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetAButtonReleased();
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/**
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* Constructs an event instance around the A button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the A button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent A(EventLoop* loop) const;
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/**
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* Read the value of the B button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetBButton() const;
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/**
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* Whether the B button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetBButtonPressed();
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/**
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* Whether the B button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetBButtonReleased();
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/**
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* Constructs an event instance around the B button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the B button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent B(EventLoop* loop) const;
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/**
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* Read the value of the X button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetXButton() const;
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/**
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* Whether the X button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetXButtonPressed();
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/**
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* Whether the X button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetXButtonReleased();
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/**
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* Constructs an event instance around the X button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the X button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent X(EventLoop* loop) const;
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/**
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* Read the value of the Y button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetYButton() const;
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/**
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* Whether the Y button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetYButtonPressed();
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/**
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* Whether the Y button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetYButtonReleased();
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/**
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* Constructs an event instance around the Y button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the Y button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Y(EventLoop* loop) const;
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/**
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* Read the value of the ellipses button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetEllipsesButton() const;
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/**
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* Whether the ellipses button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetEllipsesButtonPressed();
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/**
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* Whether the ellipses button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetEllipsesButtonReleased();
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/**
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* Constructs an event instance around the ellipses button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the ellipses button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Ellipses(EventLoop* loop) const;
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/**
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* Read the value of the hamburger button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetHamburgerButton() const;
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/**
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* Whether the hamburger button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetHamburgerButtonPressed();
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/**
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* Whether the hamburger button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetHamburgerButtonReleased();
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/**
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* Constructs an event instance around the hamburger button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the hamburger button's digital
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* signal attached to the given loop.
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*/
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BooleanEvent Hamburger(EventLoop* loop) const;
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/**
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* Read the value of the stadia button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetStadiaButton() const;
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/**
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* Whether the stadia button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetStadiaButtonPressed();
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/**
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* Whether the stadia button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetStadiaButtonReleased();
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/**
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* Constructs an event instance around the stadia button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the stadia button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Stadia(EventLoop* loop) const;
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/**
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* Read the value of the google button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetGoogleButton() const;
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/**
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* Whether the google button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetGoogleButtonPressed();
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/**
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* Whether the google button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetGoogleButtonReleased();
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/**
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* Constructs an event instance around the google button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the google button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Google(EventLoop* loop) const;
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/**
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* Read the value of the frame button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetFrameButton() const;
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/**
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* Whether the frame button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetFrameButtonPressed();
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/**
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* Whether the frame button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetFrameButtonReleased();
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/**
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* Constructs an event instance around the frame button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the frame button's digital signal
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* attached to the given loop.
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*/
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BooleanEvent Frame(EventLoop* loop) const;
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/**
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* Read the value of the left trigger button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetLeftTriggerButton() const;
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/**
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* Whether the left trigger button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetLeftTriggerButtonPressed();
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/**
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* Whether the left trigger button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetLeftTriggerButtonReleased();
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/**
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* Constructs an event instance around the left trigger button's digital
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* signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the left trigger button's digital
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* signal attached to the given loop.
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*/
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BooleanEvent LeftTrigger(EventLoop* loop) const;
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/**
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* Read the value of the right trigger button on the controller.
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*
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* @return The state of the button.
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*/
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bool GetRightTriggerButton() const;
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/**
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* Whether the right trigger button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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bool GetRightTriggerButtonPressed();
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/**
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* Whether the right trigger button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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bool GetRightTriggerButtonReleased();
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/**
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* Constructs an event instance around the right trigger button's digital
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* signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the right trigger button's digital
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* signal attached to the given loop.
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*/
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BooleanEvent RightTrigger(EventLoop* loop) const;
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struct Button {
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static constexpr int kA = 1;
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static constexpr int kB = 2;
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static constexpr int kX = 3;
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static constexpr int kY = 4;
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static constexpr int kLeftBumper = 5;
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static constexpr int kRightBumper = 6;
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static constexpr int kLeftStick = 7;
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static constexpr int kRightStick = 8;
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static constexpr int kEllipses = 9;
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static constexpr int kHamburger = 10;
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static constexpr int kStadia = 11;
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static constexpr int kRightTrigger = 12;
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static constexpr int kLeftTrigger = 13;
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static constexpr int kGoogle = 14;
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static constexpr int kFrame = 15;
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};
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struct Axis {
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static constexpr int kLeftX = 0;
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static constexpr int kRightX = 4;
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static constexpr int kLeftY = 1;
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static constexpr int kRightY = 5;
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};
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};
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} // namespace frc
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