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wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java

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+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.GenericHID;
+
+/** Class to control a simulated generic joystick. */
+public class GenericHIDSim {
+  /** GenericHID port. */
+  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();
+  }
+
+  /**
+   * Set the value of a given button.
+   *
+   * @param button the button to set
+   * @param value the new value
+   */
+  public void setRawButton(int button, boolean value) {
+    DriverStationSim.setJoystickButton(m_port, button, value);
+  }
+
+  /**
+   * Set the value of a given axis.
+   *
+   * @param axis the axis to set
+   * @param value the new value
+   */
+  public void setRawAxis(int axis, double value) {
+    DriverStationSim.setJoystickAxis(m_port, axis, value);
+  }
+
+  /**
+   * Set the value of a given POV.
+   *
+   * @param pov the POV to set
+   * @param value the new value
+   */
+  public void setPOV(int pov, DriverStation.POVDirection value) {
+    DriverStationSim.setJoystickPOV(m_port, pov, value);
+  }
+
+  /**
+   * Set the value of the default POV (port 0).
+   *
+   * @param value the new value
+   */
+  public void setPOV(DriverStation.POVDirection value) {
+    setPOV(0, value);
+  }
+
+  /**
+   * Set the maximum axis index for this device.
+   *
+   * @param maximumIndex the new maximum axis index
+   */
+  public void setAxesMaximumIndex(int maximumIndex) {
+    DriverStationSim.setJoystickAxesMaximumIndex(m_port, maximumIndex);
+  }
+
+  /**
+   * Set the axis count of this device.
+   *
+   * @param count the new axis count
+   */
+  public void setAxesAvailable(int count) {
+    DriverStationSim.setJoystickAxesAvailable(m_port, count);
+  }
+
+  /**
+   * Set the maximum POV index for this device.
+   *
+   * @param maximumIndex the new maximum POV index
+   */
+  public void setPOVsMaximumIndex(int maximumIndex) {
+    DriverStationSim.setJoystickPOVsMaximumIndex(m_port, maximumIndex);
+  }
+
+  /**
+   * Set the POV count of this device.
+   *
+   * @param count the new POV count
+   */
+  public void setPOVsAvailable(int count) {
+    DriverStationSim.setJoystickPOVsAvailable(m_port, count);
+  }
+
+  /**
+   * Set the maximum button index for this device.
+   *
+   * @param maximumIndex the new maximum button index
+   */
+  public void setButtonsMaximumIndex(int maximumIndex) {
+    DriverStationSim.setJoystickButtonsMaximumIndex(m_port, maximumIndex);
+  }
+
+  /**
+   * Set the button count of this device.
+   *
+   * @param count the new button count
+   */
+  public void setButtonsAvailable(long count) {
+    DriverStationSim.setJoystickButtonsAvailable(m_port, count);
+  }
+
+  /**
+   * Set the type of this device.
+   *
+   * @param type the new device type
+   */
+  public void setType(GenericHID.HIDType type) {
+    DriverStationSim.setJoystickType(m_port, type.value);
+  }
+
+  /**
+   * Set the name of this device.
+   *
+   * @param name the new device name
+   */
+  public void setName(String name) {
+    DriverStationSim.setJoystickName(m_port, name);
+  }
+
+  /**
+   * Read the output of a button.
+   *
+   * @param outputNumber the button number
+   * @return the value of the button (true = pressed)
+   */
+  public boolean getOutput(int outputNumber) {
+    long outputs = getOutputs();
+    return (outputs & (1L << (outputNumber - 1))) != 0;
+  }
+
+  /**
+   * Get the encoded 16-bit integer that passes button values.
+   *
+   * @return the button values
+   */
+  public long getOutputs() {
+    return DriverStationSim.getJoystickOutputs(m_port);
+  }
+
+  /**
+   * Get the joystick rumble.
+   *
+   * @param type the rumble to read
+   * @return the rumble value
+   */
+  public double getRumble(GenericHID.RumbleType type) {
+    int value =
+        DriverStationSim.getJoystickRumble(
+            m_port, type == GenericHID.RumbleType.kLeftRumble ? 0 : 1);
+    return value / 65535.0;
+  }
+}