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[wpilib,cmd] Cache HID wrappers (#8970)

Browse Source 
Store DriverStation-owned GenericHID and Gamepad instances in Java and
C++, and expose the cached objects to Python bindings.

Move hand-written command gamepad and joystick wrappers to compose
cached CommandGenericHID instances plus typed HID wrappers, including a
Python CommandGamepad.

This will let us remove UserControls, while helping ensure that we don't
have state smashing between GenericHID objects.

Another bonus is without inheritance, intellisense will no longer show a
bunch of annoying methods, and instead just what actually exists.

---------

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Thad House
2026-06-11 09:42:39 -07:00
committed by GitHub
parent fe499ede4c
commit c647e67de0
105 changed files with 4210 additions and 1336 deletions
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33
commandsv2/src/generate/main/java/commandhid.java.jinja
View File

@@ -18,8 +18,9 @@ import org.wpilib.event.EventLoop;
* @see {{ ConsoleName }}Controller
*/
@SuppressWarnings("MethodName")
public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
private final {{ ConsoleName }}Controller m_hid;
public class Command{{ ConsoleName }}Controller {
private final CommandGenericHID m_hid;
private final {{ ConsoleName }}Controller m_controller;
/**
* Construct an instance of a controller.
@@ -27,19 +28,27 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public Command{{ ConsoleName }}Controller(int port) {
super(port);
m_hid = new {{ ConsoleName }}Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_controller = new {{ ConsoleName }}Controller(m_hid.getHID());
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public {{ ConsoleName }}Controller getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying {{ ConsoleName }}Controller object.
*
* @return the wrapped {{ ConsoleName }}Controller object
*/
public {{ ConsoleName }}Controller get{{ ConsoleName }}Controller() {
return m_controller;
}
{% for button in buttons %}
/**
* Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's digital signal.
@@ -60,7 +69,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger {{ button.name }}(EventLoop loop) {
return button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
return m_hid.button({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, loop);
}
{% endfor -%}
{% for trigger in triggers -%}
@@ -76,7 +85,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* threshold, attached to the given event loop
*/
public Trigger {{ trigger.name }}(double threshold, EventLoop loop) {
return axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
return m_hid.axisGreaterThan({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
}
/**
@@ -112,7 +121,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* @return The axis value.
*/
public double get{{ stick.NameParts|map("capitalize")|join }}() {
return m_hid.get{{ stick.NameParts|map("capitalize")|join }}();
return m_controller.get{{ stick.NameParts|map("capitalize")|join }}();
}
{% endfor -%}
{% for trigger in triggers %}
@@ -123,7 +132,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* @return The axis value.
*/
public double get{{ capitalize_first(trigger.name) }}Axis() {
return m_hid.get{{ capitalize_first(trigger.name) }}Axis();
return m_controller.get{{ capitalize_first(trigger.name) }}Axis();
}
{% endfor -%}
}

24
commandsv2/src/generate/main/native/cpp/wpi/commands2/button/commandhid.cpp.jinja
View File

@@ -11,33 +11,39 @@
using namespace wpi::cmd;
Command{{ ConsoleName }}Controller::Command{{ ConsoleName }}Controller(int port)
: CommandGenericHID(port), m_hid{wpi::{{ ConsoleName }}Controller(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_controller{m_hid->GetHID()} {}
wpi::{{ ConsoleName }}Controller& Command{{ ConsoleName }}Controller::GetHID() {
return m_hid;
CommandGenericHID& Command{{ ConsoleName }}Controller::GetHID() {
return *m_hid;
}
wpi::{{ ConsoleName }}Controller&
Command{{ ConsoleName }}Controller::Get{{ ConsoleName }}Controller() {
return m_controller;
}
{% for button in buttons %}
Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(wpi::EventLoop* loop) const {
return Button(wpi::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
return m_hid->Button(
wpi::{{ ConsoleName }}Controller::Button::k{{ capitalize_first(button.name) }}, loop);
}
{% endfor -%}
{% for trigger in triggers -%}
{% if trigger.UseThresholdMethods %}
Trigger Command{{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, threshold] {
return m_hid.Get{{ capitalize_first(trigger.name) }}Axis() > threshold;
});
return m_hid->AxisGreaterThan(
wpi::{{ ConsoleName }}Controller::Axis::k{{ capitalize_first(trigger.name) }}, threshold, loop);
}
{% endif -%}
{% endfor -%}
{% for stick in sticks %}
double Command{{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
return m_hid.Get{{ stick.NameParts|map("capitalize")|join }}();
return m_controller.Get{{ stick.NameParts|map("capitalize")|join }}();
}
{% endfor -%}
{% for trigger in triggers %}
double Command{{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
return m_hid.Get{{ capitalize_first(trigger.name) }}Axis();
return m_controller.Get{{ capitalize_first(trigger.name) }}Axis();
}
{% endfor -%}

23
commandsv2/src/generate/main/native/include/wpi/commands2/button/commandhid.hpp.jinja
View File

@@ -8,11 +8,10 @@
{%- endmacro %}
#pragma once
#include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
namespace wpi::cmd {
/**
@@ -21,7 +20,7 @@ namespace wpi::cmd {
*
* @see wpi::{{ ConsoleName }}Controller
*/
class Command{{ ConsoleName }}Controller : public CommandGenericHID {
class Command{{ ConsoleName }}Controller {
public:
/**
* Construct an instance of a controller.
@@ -32,11 +31,18 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
explicit Command{{ ConsoleName }}Controller(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::{{ ConsoleName }}Controller& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying {{ ConsoleName }}Controller object.
*
* @return the wrapped {{ ConsoleName }}Controller object
*/
wpi::{{ ConsoleName }}Controller& Get{{ ConsoleName }}Controller();
{% for button in buttons %}
/**
* Constructs a Trigger instance around the {{ button.DocName|default(button.name) }} button's
@@ -88,6 +94,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
double Get{{ capitalize_first(trigger.name) }}Axis() const;
{% endfor %}
private:
wpi::{{ ConsoleName }}Controller m_hid;
CommandGenericHID* m_hid;
wpi::{{ ConsoleName }}Controller m_controller;
};
} // namespace wpi::cmd

65
commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS4Controller.java generated
View File

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
* @see NiDsPS4Controller
*/
@SuppressWarnings("MethodName")
public class CommandNiDsPS4Controller extends CommandGenericHID {
private final NiDsPS4Controller m_hid;
public class CommandNiDsPS4Controller {
private final CommandGenericHID m_hid;
private final NiDsPS4Controller m_controller;
/**
* Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsPS4Controller(int port) {
super(port);
m_hid = new NiDsPS4Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_controller = new NiDsPS4Controller(m_hid.getHID());
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public NiDsPS4Controller getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying NiDsPS4Controller object.
*
* @return the wrapped NiDsPS4Controller object
*/
public NiDsPS4Controller getNiDsPS4Controller() {
return m_controller;
}
/**
* Constructs a Trigger instance around the square button's digital signal.
*
@@ -58,7 +67,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger square(EventLoop loop) {
return button(NiDsPS4Controller.Button.kSquare.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kSquare.value, loop);
}
/**
@@ -80,7 +89,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger cross(EventLoop loop) {
return button(NiDsPS4Controller.Button.kCross.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kCross.value, loop);
}
/**
@@ -102,7 +111,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger circle(EventLoop loop) {
return button(NiDsPS4Controller.Button.kCircle.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kCircle.value, loop);
}
/**
@@ -124,7 +133,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger triangle(EventLoop loop) {
return button(NiDsPS4Controller.Button.kTriangle.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kTriangle.value, loop);
}
/**
@@ -146,7 +155,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L1(EventLoop loop) {
return button(NiDsPS4Controller.Button.kL1.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kL1.value, loop);
}
/**
@@ -168,7 +177,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R1(EventLoop loop) {
return button(NiDsPS4Controller.Button.kR1.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kR1.value, loop);
}
/**
@@ -190,7 +199,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L2(EventLoop loop) {
return button(NiDsPS4Controller.Button.kL2.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kL2.value, loop);
}
/**
@@ -212,7 +221,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R2(EventLoop loop) {
return button(NiDsPS4Controller.Button.kR2.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kR2.value, loop);
}
/**
@@ -234,7 +243,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger share(EventLoop loop) {
return button(NiDsPS4Controller.Button.kShare.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kShare.value, loop);
}
/**
@@ -256,7 +265,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger options(EventLoop loop) {
return button(NiDsPS4Controller.Button.kOptions.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kOptions.value, loop);
}
/**
@@ -278,7 +287,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L3(EventLoop loop) {
return button(NiDsPS4Controller.Button.kL3.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kL3.value, loop);
}
/**
@@ -300,7 +309,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R3(EventLoop loop) {
return button(NiDsPS4Controller.Button.kR3.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kR3.value, loop);
}
/**
@@ -322,7 +331,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger PS(EventLoop loop) {
return button(NiDsPS4Controller.Button.kPS.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kPS.value, loop);
}
/**
@@ -344,7 +353,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger touchpad(EventLoop loop) {
return button(NiDsPS4Controller.Button.kTouchpad.value, loop);
return m_hid.button(NiDsPS4Controller.Button.kTouchpad.value, loop);
}
/**
@@ -353,7 +362,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -362,7 +371,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -371,7 +380,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -380,7 +389,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -390,7 +399,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getL2Axis() {
return m_hid.getL2Axis();
return m_controller.getL2Axis();
}
/**
@@ -400,6 +409,6 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getR2Axis() {
return m_hid.getR2Axis();
return m_controller.getR2Axis();
}
}

65
commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsPS5Controller.java generated
View File

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
* @see NiDsPS5Controller
*/
@SuppressWarnings("MethodName")
public class CommandNiDsPS5Controller extends CommandGenericHID {
private final NiDsPS5Controller m_hid;
public class CommandNiDsPS5Controller {
private final CommandGenericHID m_hid;
private final NiDsPS5Controller m_controller;
/**
* Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsPS5Controller(int port) {
super(port);
m_hid = new NiDsPS5Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_controller = new NiDsPS5Controller(m_hid.getHID());
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public NiDsPS5Controller getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying NiDsPS5Controller object.
*
* @return the wrapped NiDsPS5Controller object
*/
public NiDsPS5Controller getNiDsPS5Controller() {
return m_controller;
}
/**
* Constructs a Trigger instance around the square button's digital signal.
*
@@ -58,7 +67,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger square(EventLoop loop) {
return button(NiDsPS5Controller.Button.kSquare.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kSquare.value, loop);
}
/**
@@ -80,7 +89,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger cross(EventLoop loop) {
return button(NiDsPS5Controller.Button.kCross.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kCross.value, loop);
}
/**
@@ -102,7 +111,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger circle(EventLoop loop) {
return button(NiDsPS5Controller.Button.kCircle.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kCircle.value, loop);
}
/**
@@ -124,7 +133,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger triangle(EventLoop loop) {
return button(NiDsPS5Controller.Button.kTriangle.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kTriangle.value, loop);
}
/**
@@ -146,7 +155,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L1(EventLoop loop) {
return button(NiDsPS5Controller.Button.kL1.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kL1.value, loop);
}
/**
@@ -168,7 +177,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R1(EventLoop loop) {
return button(NiDsPS5Controller.Button.kR1.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kR1.value, loop);
}
/**
@@ -190,7 +199,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L2(EventLoop loop) {
return button(NiDsPS5Controller.Button.kL2.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kL2.value, loop);
}
/**
@@ -212,7 +221,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R2(EventLoop loop) {
return button(NiDsPS5Controller.Button.kR2.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kR2.value, loop);
}
/**
@@ -234,7 +243,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger create(EventLoop loop) {
return button(NiDsPS5Controller.Button.kCreate.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kCreate.value, loop);
}
/**
@@ -256,7 +265,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger options(EventLoop loop) {
return button(NiDsPS5Controller.Button.kOptions.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kOptions.value, loop);
}
/**
@@ -278,7 +287,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger L3(EventLoop loop) {
return button(NiDsPS5Controller.Button.kL3.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kL3.value, loop);
}
/**
@@ -300,7 +309,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger R3(EventLoop loop) {
return button(NiDsPS5Controller.Button.kR3.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kR3.value, loop);
}
/**
@@ -322,7 +331,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger PS(EventLoop loop) {
return button(NiDsPS5Controller.Button.kPS.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kPS.value, loop);
}
/**
@@ -344,7 +353,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* to the given loop.
*/
public Trigger touchpad(EventLoop loop) {
return button(NiDsPS5Controller.Button.kTouchpad.value, loop);
return m_hid.button(NiDsPS5Controller.Button.kTouchpad.value, loop);
}
/**
@@ -353,7 +362,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -362,7 +371,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -371,7 +380,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -380,7 +389,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -390,7 +399,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getL2Axis() {
return m_hid.getL2Axis();
return m_controller.getL2Axis();
}
/**
@@ -400,6 +409,6 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getR2Axis() {
return m_hid.getR2Axis();
return m_controller.getR2Axis();
}
}

63
commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsStadiaController.java generated
View File

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
* @see NiDsStadiaController
*/
@SuppressWarnings("MethodName")
public class CommandNiDsStadiaController extends CommandGenericHID {
private final NiDsStadiaController m_hid;
public class CommandNiDsStadiaController {
private final CommandGenericHID m_hid;
private final NiDsStadiaController m_controller;
/**
* Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsStadiaController(int port) {
super(port);
m_hid = new NiDsStadiaController(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_controller = new NiDsStadiaController(m_hid.getHID());
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public NiDsStadiaController getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying NiDsStadiaController object.
*
* @return the wrapped NiDsStadiaController object
*/
public NiDsStadiaController getNiDsStadiaController() {
return m_controller;
}
/**
* Constructs a Trigger instance around the A button's digital signal.
*
@@ -58,7 +67,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger a(EventLoop loop) {
return button(NiDsStadiaController.Button.kA.value, loop);
return m_hid.button(NiDsStadiaController.Button.kA.value, loop);
}
/**
@@ -80,7 +89,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger b(EventLoop loop) {
return button(NiDsStadiaController.Button.kB.value, loop);
return m_hid.button(NiDsStadiaController.Button.kB.value, loop);
}
/**
@@ -102,7 +111,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger x(EventLoop loop) {
return button(NiDsStadiaController.Button.kX.value, loop);
return m_hid.button(NiDsStadiaController.Button.kX.value, loop);
}
/**
@@ -124,7 +133,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger y(EventLoop loop) {
return button(NiDsStadiaController.Button.kY.value, loop);
return m_hid.button(NiDsStadiaController.Button.kY.value, loop);
}
/**
@@ -146,7 +155,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger leftBumper(EventLoop loop) {
return button(NiDsStadiaController.Button.kLeftBumper.value, loop);
return m_hid.button(NiDsStadiaController.Button.kLeftBumper.value, loop);
}
/**
@@ -168,7 +177,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger rightBumper(EventLoop loop) {
return button(NiDsStadiaController.Button.kRightBumper.value, loop);
return m_hid.button(NiDsStadiaController.Button.kRightBumper.value, loop);
}
/**
@@ -190,7 +199,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger leftStick(EventLoop loop) {
return button(NiDsStadiaController.Button.kLeftStick.value, loop);
return m_hid.button(NiDsStadiaController.Button.kLeftStick.value, loop);
}
/**
@@ -212,7 +221,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger rightStick(EventLoop loop) {
return button(NiDsStadiaController.Button.kRightStick.value, loop);
return m_hid.button(NiDsStadiaController.Button.kRightStick.value, loop);
}
/**
@@ -234,7 +243,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger ellipses(EventLoop loop) {
return button(NiDsStadiaController.Button.kEllipses.value, loop);
return m_hid.button(NiDsStadiaController.Button.kEllipses.value, loop);
}
/**
@@ -256,7 +265,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger hamburger(EventLoop loop) {
return button(NiDsStadiaController.Button.kHamburger.value, loop);
return m_hid.button(NiDsStadiaController.Button.kHamburger.value, loop);
}
/**
@@ -278,7 +287,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger stadia(EventLoop loop) {
return button(NiDsStadiaController.Button.kStadia.value, loop);
return m_hid.button(NiDsStadiaController.Button.kStadia.value, loop);
}
/**
@@ -300,7 +309,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger rightTrigger(EventLoop loop) {
return button(NiDsStadiaController.Button.kRightTrigger.value, loop);
return m_hid.button(NiDsStadiaController.Button.kRightTrigger.value, loop);
}
/**
@@ -322,7 +331,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger leftTrigger(EventLoop loop) {
return button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
return m_hid.button(NiDsStadiaController.Button.kLeftTrigger.value, loop);
}
/**
@@ -344,7 +353,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger google(EventLoop loop) {
return button(NiDsStadiaController.Button.kGoogle.value, loop);
return m_hid.button(NiDsStadiaController.Button.kGoogle.value, loop);
}
/**
@@ -366,7 +375,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* to the given loop.
*/
public Trigger frame(EventLoop loop) {
return button(NiDsStadiaController.Button.kFrame.value, loop);
return m_hid.button(NiDsStadiaController.Button.kFrame.value, loop);
}
/**
@@ -375,7 +384,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -384,7 +393,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -393,7 +402,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -402,6 +411,6 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
}

61
commandsv2/src/generated/main/java/org/wpilib/command2/button/CommandNiDsXboxController.java generated
View File

@@ -16,8 +16,9 @@ import org.wpilib.event.EventLoop;
* @see NiDsXboxController
*/
@SuppressWarnings("MethodName")
public class CommandNiDsXboxController extends CommandGenericHID {
private final NiDsXboxController m_hid;
public class CommandNiDsXboxController {
private final CommandGenericHID m_hid;
private final NiDsXboxController m_controller;
/**
* Construct an instance of a controller.
@@ -25,20 +26,28 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsXboxController(int port) {
super(port);
m_hid = new NiDsXboxController(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_controller = new NiDsXboxController(m_hid.getHID());
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public NiDsXboxController getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying NiDsXboxController object.
*
* @return the wrapped NiDsXboxController object
*/
public NiDsXboxController getNiDsXboxController() {
return m_controller;
}
/**
* Constructs a Trigger instance around the A button's digital signal.
*
@@ -58,7 +67,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger a(EventLoop loop) {
return button(NiDsXboxController.Button.kA.value, loop);
return m_hid.button(NiDsXboxController.Button.kA.value, loop);
}
/**
@@ -80,7 +89,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger b(EventLoop loop) {
return button(NiDsXboxController.Button.kB.value, loop);
return m_hid.button(NiDsXboxController.Button.kB.value, loop);
}
/**
@@ -102,7 +111,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger x(EventLoop loop) {
return button(NiDsXboxController.Button.kX.value, loop);
return m_hid.button(NiDsXboxController.Button.kX.value, loop);
}
/**
@@ -124,7 +133,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger y(EventLoop loop) {
return button(NiDsXboxController.Button.kY.value, loop);
return m_hid.button(NiDsXboxController.Button.kY.value, loop);
}
/**
@@ -146,7 +155,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger leftBumper(EventLoop loop) {
return button(NiDsXboxController.Button.kLeftBumper.value, loop);
return m_hid.button(NiDsXboxController.Button.kLeftBumper.value, loop);
}
/**
@@ -168,7 +177,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger rightBumper(EventLoop loop) {
return button(NiDsXboxController.Button.kRightBumper.value, loop);
return m_hid.button(NiDsXboxController.Button.kRightBumper.value, loop);
}
/**
@@ -190,7 +199,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger back(EventLoop loop) {
return button(NiDsXboxController.Button.kBack.value, loop);
return m_hid.button(NiDsXboxController.Button.kBack.value, loop);
}
/**
@@ -212,7 +221,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger start(EventLoop loop) {
return button(NiDsXboxController.Button.kStart.value, loop);
return m_hid.button(NiDsXboxController.Button.kStart.value, loop);
}
/**
@@ -234,7 +243,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger leftStick(EventLoop loop) {
return button(NiDsXboxController.Button.kLeftStick.value, loop);
return m_hid.button(NiDsXboxController.Button.kLeftStick.value, loop);
}
/**
@@ -256,7 +265,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* to the given loop.
*/
public Trigger rightStick(EventLoop loop) {
return button(NiDsXboxController.Button.kRightStick.value, loop);
return m_hid.button(NiDsXboxController.Button.kRightStick.value, loop);
}
/**
@@ -270,7 +279,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* threshold, attached to the given event loop
*/
public Trigger leftTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
return m_hid.axisGreaterThan(NiDsXboxController.Axis.kLeftTrigger.value, threshold, loop);
}
/**
@@ -309,7 +318,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* threshold, attached to the given event loop
*/
public Trigger rightTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
return m_hid.axisGreaterThan(NiDsXboxController.Axis.kRightTrigger.value, threshold, loop);
}
/**
@@ -343,7 +352,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -352,7 +361,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -361,7 +370,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -370,7 +379,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -380,7 +389,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return m_hid.getLeftTriggerAxis();
return m_controller.getLeftTriggerAxis();
}
/**
@@ -390,6 +399,6 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightTriggerAxis() {
return m_hid.getRightTriggerAxis();
return m_controller.getRightTriggerAxis();
}
}

66
commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS4Controller.cpp generated
View File

@@ -9,88 +9,108 @@
using namespace wpi::cmd;
CommandNiDsPS4Controller::CommandNiDsPS4Controller(int port)
: CommandGenericHID(port), m_hid{wpi::NiDsPS4Controller(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_controller{m_hid->GetHID()} {}
wpi::NiDsPS4Controller& CommandNiDsPS4Controller::GetHID() {
return m_hid;
CommandGenericHID& CommandNiDsPS4Controller::GetHID() {
return *m_hid;
}
wpi::NiDsPS4Controller&
CommandNiDsPS4Controller::GetNiDsPS4Controller() {
return m_controller;
}
Trigger CommandNiDsPS4Controller::Square(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kSquare, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kSquare, loop);
}
Trigger CommandNiDsPS4Controller::Cross(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kCross, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kCross, loop);
}
Trigger CommandNiDsPS4Controller::Circle(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kCircle, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kCircle, loop);
}
Trigger CommandNiDsPS4Controller::Triangle(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kTriangle, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kTriangle, loop);
}
Trigger CommandNiDsPS4Controller::L1(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kL1, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kL1, loop);
}
Trigger CommandNiDsPS4Controller::R1(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kR1, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kR1, loop);
}
Trigger CommandNiDsPS4Controller::L2(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kL2, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kL2, loop);
}
Trigger CommandNiDsPS4Controller::R2(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kR2, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kR2, loop);
}
Trigger CommandNiDsPS4Controller::Share(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kShare, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kShare, loop);
}
Trigger CommandNiDsPS4Controller::Options(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kOptions, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kOptions, loop);
}
Trigger CommandNiDsPS4Controller::L3(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kL3, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kL3, loop);
}
Trigger CommandNiDsPS4Controller::R3(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kR3, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kR3, loop);
}
Trigger CommandNiDsPS4Controller::PS(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kPS, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kPS, loop);
}
Trigger CommandNiDsPS4Controller::Touchpad(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS4Controller::Button::kTouchpad, loop);
return m_hid->Button(
wpi::NiDsPS4Controller::Button::kTouchpad, loop);
}
double CommandNiDsPS4Controller::GetLeftX() const {
return m_hid.GetLeftX();
return m_controller.GetLeftX();
}
double CommandNiDsPS4Controller::GetLeftY() const {
return m_hid.GetLeftY();
return m_controller.GetLeftY();
}
double CommandNiDsPS4Controller::GetRightX() const {
return m_hid.GetRightX();
return m_controller.GetRightX();
}
double CommandNiDsPS4Controller::GetRightY() const {
return m_hid.GetRightY();
return m_controller.GetRightY();
}
double CommandNiDsPS4Controller::GetL2Axis() const {
return m_hid.GetL2Axis();
return m_controller.GetL2Axis();
}
double CommandNiDsPS4Controller::GetR2Axis() const {
return m_hid.GetR2Axis();
return m_controller.GetR2Axis();
}

66
commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsPS5Controller.cpp generated
View File

@@ -9,88 +9,108 @@
using namespace wpi::cmd;
CommandNiDsPS5Controller::CommandNiDsPS5Controller(int port)
: CommandGenericHID(port), m_hid{wpi::NiDsPS5Controller(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_controller{m_hid->GetHID()} {}
wpi::NiDsPS5Controller& CommandNiDsPS5Controller::GetHID() {
return m_hid;
CommandGenericHID& CommandNiDsPS5Controller::GetHID() {
return *m_hid;
}
wpi::NiDsPS5Controller&
CommandNiDsPS5Controller::GetNiDsPS5Controller() {
return m_controller;
}
Trigger CommandNiDsPS5Controller::Square(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kSquare, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kSquare, loop);
}
Trigger CommandNiDsPS5Controller::Cross(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kCross, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kCross, loop);
}
Trigger CommandNiDsPS5Controller::Circle(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kCircle, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kCircle, loop);
}
Trigger CommandNiDsPS5Controller::Triangle(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kTriangle, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kTriangle, loop);
}
Trigger CommandNiDsPS5Controller::L1(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kL1, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kL1, loop);
}
Trigger CommandNiDsPS5Controller::R1(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kR1, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kR1, loop);
}
Trigger CommandNiDsPS5Controller::L2(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kL2, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kL2, loop);
}
Trigger CommandNiDsPS5Controller::R2(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kR2, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kR2, loop);
}
Trigger CommandNiDsPS5Controller::Create(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kCreate, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kCreate, loop);
}
Trigger CommandNiDsPS5Controller::Options(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kOptions, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kOptions, loop);
}
Trigger CommandNiDsPS5Controller::L3(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kL3, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kL3, loop);
}
Trigger CommandNiDsPS5Controller::R3(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kR3, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kR3, loop);
}
Trigger CommandNiDsPS5Controller::PS(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kPS, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kPS, loop);
}
Trigger CommandNiDsPS5Controller::Touchpad(wpi::EventLoop* loop) const {
return Button(wpi::NiDsPS5Controller::Button::kTouchpad, loop);
return m_hid->Button(
wpi::NiDsPS5Controller::Button::kTouchpad, loop);
}
double CommandNiDsPS5Controller::GetLeftX() const {
return m_hid.GetLeftX();
return m_controller.GetLeftX();
}
double CommandNiDsPS5Controller::GetLeftY() const {
return m_hid.GetLeftY();
return m_controller.GetLeftY();
}
double CommandNiDsPS5Controller::GetRightX() const {
return m_hid.GetRightX();
return m_controller.GetRightX();
}
double CommandNiDsPS5Controller::GetRightY() const {
return m_hid.GetRightY();
return m_controller.GetRightY();
}
double CommandNiDsPS5Controller::GetL2Axis() const {
return m_hid.GetL2Axis();
return m_controller.GetL2Axis();
}
double CommandNiDsPS5Controller::GetR2Axis() const {
return m_hid.GetR2Axis();
return m_controller.GetR2Axis();
}

65
commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsStadiaController.cpp generated
View File

@@ -9,84 +9,105 @@
using namespace wpi::cmd;
CommandNiDsStadiaController::CommandNiDsStadiaController(int port)
: CommandGenericHID(port), m_hid{wpi::NiDsStadiaController(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_controller{m_hid->GetHID()} {}
wpi::NiDsStadiaController& CommandNiDsStadiaController::GetHID() {
return m_hid;
CommandGenericHID& CommandNiDsStadiaController::GetHID() {
return *m_hid;
}
wpi::NiDsStadiaController&
CommandNiDsStadiaController::GetNiDsStadiaController() {
return m_controller;
}
Trigger CommandNiDsStadiaController::A(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kA, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kA, loop);
}
Trigger CommandNiDsStadiaController::B(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kB, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kB, loop);
}
Trigger CommandNiDsStadiaController::X(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kX, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kX, loop);
}
Trigger CommandNiDsStadiaController::Y(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kY, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kY, loop);
}
Trigger CommandNiDsStadiaController::LeftBumper(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kLeftBumper, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kLeftBumper, loop);
}
Trigger CommandNiDsStadiaController::RightBumper(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kRightBumper, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kRightBumper, loop);
}
Trigger CommandNiDsStadiaController::LeftStick(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kLeftStick, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kLeftStick, loop);
}
Trigger CommandNiDsStadiaController::RightStick(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kRightStick, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kRightStick, loop);
}
Trigger CommandNiDsStadiaController::Ellipses(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kEllipses, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kEllipses, loop);
}
Trigger CommandNiDsStadiaController::Hamburger(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kHamburger, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kHamburger, loop);
}
Trigger CommandNiDsStadiaController::Stadia(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kStadia, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kStadia, loop);
}
Trigger CommandNiDsStadiaController::RightTrigger(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kRightTrigger, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kRightTrigger, loop);
}
Trigger CommandNiDsStadiaController::LeftTrigger(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kLeftTrigger, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kLeftTrigger, loop);
}
Trigger CommandNiDsStadiaController::Google(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kGoogle, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kGoogle, loop);
}
Trigger CommandNiDsStadiaController::Frame(wpi::EventLoop* loop) const {
return Button(wpi::NiDsStadiaController::Button::kFrame, loop);
return m_hid->Button(
wpi::NiDsStadiaController::Button::kFrame, loop);
}
double CommandNiDsStadiaController::GetLeftX() const {
return m_hid.GetLeftX();
return m_controller.GetLeftX();
}
double CommandNiDsStadiaController::GetRightX() const {
return m_hid.GetRightX();
return m_controller.GetRightX();
}
double CommandNiDsStadiaController::GetLeftY() const {
return m_hid.GetLeftY();
return m_controller.GetLeftY();
}
double CommandNiDsStadiaController::GetRightY() const {
return m_hid.GetRightY();
return m_controller.GetRightY();
}

64
commandsv2/src/generated/main/native/cpp/wpi/commands2/button/CommandNiDsXboxController.cpp generated
View File

@@ -9,86 +9,100 @@
using namespace wpi::cmd;
CommandNiDsXboxController::CommandNiDsXboxController(int port)
: CommandGenericHID(port), m_hid{wpi::NiDsXboxController(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_controller{m_hid->GetHID()} {}
wpi::NiDsXboxController& CommandNiDsXboxController::GetHID() {
return m_hid;
CommandGenericHID& CommandNiDsXboxController::GetHID() {
return *m_hid;
}
wpi::NiDsXboxController&
CommandNiDsXboxController::GetNiDsXboxController() {
return m_controller;
}
Trigger CommandNiDsXboxController::A(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kA, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kA, loop);
}
Trigger CommandNiDsXboxController::B(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kB, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kB, loop);
}
Trigger CommandNiDsXboxController::X(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kX, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kX, loop);
}
Trigger CommandNiDsXboxController::Y(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kY, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kY, loop);
}
Trigger CommandNiDsXboxController::LeftBumper(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kLeftBumper, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kLeftBumper, loop);
}
Trigger CommandNiDsXboxController::RightBumper(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kRightBumper, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kRightBumper, loop);
}
Trigger CommandNiDsXboxController::Back(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kBack, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kBack, loop);
}
Trigger CommandNiDsXboxController::Start(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kStart, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kStart, loop);
}
Trigger CommandNiDsXboxController::LeftStick(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kLeftStick, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kLeftStick, loop);
}
Trigger CommandNiDsXboxController::RightStick(wpi::EventLoop* loop) const {
return Button(wpi::NiDsXboxController::Button::kRightStick, loop);
return m_hid->Button(
wpi::NiDsXboxController::Button::kRightStick, loop);
}
Trigger CommandNiDsXboxController::LeftTrigger(double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, threshold] {
return m_hid.GetLeftTriggerAxis() > threshold;
});
return m_hid->AxisGreaterThan(
wpi::NiDsXboxController::Axis::kLeftTrigger, threshold, loop);
}
Trigger CommandNiDsXboxController::RightTrigger(double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, threshold] {
return m_hid.GetRightTriggerAxis() > threshold;
});
return m_hid->AxisGreaterThan(
wpi::NiDsXboxController::Axis::kRightTrigger, threshold, loop);
}
double CommandNiDsXboxController::GetLeftX() const {
return m_hid.GetLeftX();
return m_controller.GetLeftX();
}
double CommandNiDsXboxController::GetRightX() const {
return m_hid.GetRightX();
return m_controller.GetRightX();
}
double CommandNiDsXboxController::GetLeftY() const {
return m_hid.GetLeftY();
return m_controller.GetLeftY();
}
double CommandNiDsXboxController::GetRightY() const {
return m_hid.GetRightY();
return m_controller.GetRightY();
}
double CommandNiDsXboxController::GetLeftTriggerAxis() const {
return m_hid.GetLeftTriggerAxis();
return m_controller.GetLeftTriggerAxis();
}
double CommandNiDsXboxController::GetRightTriggerAxis() const {
return m_hid.GetRightTriggerAxis();
return m_controller.GetRightTriggerAxis();
}

23
commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS4Controller.hpp generated
View File

@@ -6,11 +6,10 @@
#pragma once
#include "wpi/driverstation/NiDsPS4Controller.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include "wpi/driverstation/NiDsPS4Controller.hpp"
namespace wpi::cmd {
/**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
*
* @see wpi::NiDsPS4Controller
*/
class CommandNiDsPS4Controller : public CommandGenericHID {
class CommandNiDsPS4Controller {
public:
/**
* Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsPS4Controller : public CommandGenericHID {
explicit CommandNiDsPS4Controller(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::NiDsPS4Controller& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying NiDsPS4Controller object.
*
* @return the wrapped NiDsPS4Controller object
*/
wpi::NiDsPS4Controller& GetNiDsPS4Controller();
/**
* Constructs a Trigger instance around the square button's
@@ -249,6 +255,7 @@ class CommandNiDsPS4Controller : public CommandGenericHID {
double GetR2Axis() const;
private:
wpi::NiDsPS4Controller m_hid;
CommandGenericHID* m_hid;
wpi::NiDsPS4Controller m_controller;
};
} // namespace wpi::cmd

23
commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsPS5Controller.hpp generated
View File

@@ -6,11 +6,10 @@
#pragma once
#include "wpi/driverstation/NiDsPS5Controller.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include "wpi/driverstation/NiDsPS5Controller.hpp"
namespace wpi::cmd {
/**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
*
* @see wpi::NiDsPS5Controller
*/
class CommandNiDsPS5Controller : public CommandGenericHID {
class CommandNiDsPS5Controller {
public:
/**
* Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsPS5Controller : public CommandGenericHID {
explicit CommandNiDsPS5Controller(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::NiDsPS5Controller& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying NiDsPS5Controller object.
*
* @return the wrapped NiDsPS5Controller object
*/
wpi::NiDsPS5Controller& GetNiDsPS5Controller();
/**
* Constructs a Trigger instance around the square button's
@@ -249,6 +255,7 @@ class CommandNiDsPS5Controller : public CommandGenericHID {
double GetR2Axis() const;
private:
wpi::NiDsPS5Controller m_hid;
CommandGenericHID* m_hid;
wpi::NiDsPS5Controller m_controller;
};
} // namespace wpi::cmd

23
commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsStadiaController.hpp generated
View File

@@ -6,11 +6,10 @@
#pragma once
#include "wpi/driverstation/NiDsStadiaController.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include "wpi/driverstation/NiDsStadiaController.hpp"
namespace wpi::cmd {
/**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
*
* @see wpi::NiDsStadiaController
*/
class CommandNiDsStadiaController : public CommandGenericHID {
class CommandNiDsStadiaController {
public:
/**
* Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsStadiaController : public CommandGenericHID {
explicit CommandNiDsStadiaController(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::NiDsStadiaController& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying NiDsStadiaController object.
*
* @return the wrapped NiDsStadiaController object
*/
wpi::NiDsStadiaController& GetNiDsStadiaController();
/**
* Constructs a Trigger instance around the A button's
@@ -245,6 +251,7 @@ class CommandNiDsStadiaController : public CommandGenericHID {
double GetRightY() const;
private:
wpi::NiDsStadiaController m_hid;
CommandGenericHID* m_hid;
wpi::NiDsStadiaController m_controller;
};
} // namespace wpi::cmd

23
commandsv2/src/generated/main/native/include/wpi/commands2/button/CommandNiDsXboxController.hpp generated
View File

@@ -6,11 +6,10 @@
#pragma once
#include "wpi/driverstation/NiDsXboxController.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include "wpi/driverstation/NiDsXboxController.hpp"
namespace wpi::cmd {
/**
@@ -19,7 +18,7 @@ namespace wpi::cmd {
*
* @see wpi::NiDsXboxController
*/
class CommandNiDsXboxController : public CommandGenericHID {
class CommandNiDsXboxController {
public:
/**
* Construct an instance of a controller.
@@ -30,11 +29,18 @@ class CommandNiDsXboxController : public CommandGenericHID {
explicit CommandNiDsXboxController(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::NiDsXboxController& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying NiDsXboxController object.
*
* @return the wrapped NiDsXboxController object
*/
wpi::NiDsXboxController& GetNiDsXboxController();
/**
* Constructs a Trigger instance around the A button's
@@ -235,6 +241,7 @@ class CommandNiDsXboxController : public CommandGenericHID {
double GetRightTriggerAxis() const;
private:
wpi::NiDsXboxController m_hid;
CommandGenericHID* m_hid;
wpi::NiDsXboxController m_controller;
};
} // namespace wpi::cmd

77
commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java
View File

@@ -5,6 +5,7 @@
package org.wpilib.command2.button;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Gamepad;
import org.wpilib.event.EventLoop;
@@ -14,8 +15,9 @@ import org.wpilib.event.EventLoop;
* @see Gamepad
*/
@SuppressWarnings("MethodName")
public class CommandGamepad extends CommandGenericHID {
private final Gamepad m_hid;
public class CommandGamepad {
private final CommandGenericHID m_hid;
private final Gamepad m_gamepad;
/**
* Construct an instance of a controller.
@@ -23,20 +25,51 @@ public class CommandGamepad extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandGamepad(int port) {
super(port);
m_hid = new Gamepad(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_gamepad = DriverStation.getGamepad(port);
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public Gamepad getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying Gamepad object.
*
* @return the wrapped Gamepad object
*/
public Gamepad getGamepad() {
return m_gamepad;
}
/**
* Constructs an event instance around this button's digital signal.
*
* @param button the button index
* @return an event instance representing the button's digital signal attached to the {@link
* CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
* @see #button(int, EventLoop)
*/
public Trigger button(int button) {
return m_hid.button(button);
}
/**
* 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.
* @return an event instance representing the button's digital signal attached to the given loop.
*/
public Trigger button(int button, EventLoop loop) {
return m_hid.button(button, loop);
}
/**
* Constructs an event instance around this button's digital signal.
*
@@ -46,7 +79,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #button(Gamepad.Button, EventLoop)
*/
public Trigger button(Gamepad.Button button) {
return super.button(button.value);
return button(button.value);
}
/**
@@ -721,7 +754,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold.
*/
public Trigger axisLessThan(Gamepad.Axis axis, double threshold) {
return super.axisLessThan(axis.value, threshold);
return m_hid.axisLessThan(axis.value, threshold);
}
/**
@@ -735,7 +768,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold.
*/
public Trigger axisLessThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
return super.axisLessThan(axis.value, threshold, loop);
return m_hid.axisLessThan(axis.value, threshold, loop);
}
/**
@@ -749,7 +782,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold.
*/
public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold) {
return super.axisGreaterThan(axis.value, threshold);
return m_hid.axisGreaterThan(axis.value, threshold);
}
/**
@@ -763,7 +796,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold.
*/
public Trigger axisGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
return super.axisGreaterThan(axis.value, threshold, loop);
return m_hid.axisGreaterThan(axis.value, threshold, loop);
}
/**
@@ -777,7 +810,7 @@ public class CommandGamepad extends CommandGenericHID {
* provided threshold.
*/
public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold, EventLoop loop) {
return super.axisMagnitudeGreaterThan(axis.value, threshold, loop);
return m_hid.axisMagnitudeGreaterThan(axis.value, threshold, loop);
}
/**
@@ -790,7 +823,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
*/
public Trigger axisMagnitudeGreaterThan(Gamepad.Axis axis, double threshold) {
return super.axisMagnitudeGreaterThan(axis.value, threshold);
return m_hid.axisMagnitudeGreaterThan(axis.value, threshold);
}
/**
@@ -800,7 +833,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The value of the axis.
*/
public double getAxis(Gamepad.Axis axis) {
return getRawAxis(axis.value);
return m_hid.getRawAxis(axis.value);
}
/**
@@ -809,7 +842,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_gamepad.getLeftX();
}
/**
@@ -818,7 +851,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_gamepad.getLeftY();
}
/**
@@ -827,7 +860,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_gamepad.getRightX();
}
/**
@@ -836,7 +869,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_gamepad.getRightY();
}
/**
@@ -846,7 +879,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return m_hid.getLeftTriggerAxis();
return m_gamepad.getLeftTriggerAxis();
}
/**
@@ -856,6 +889,6 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightTriggerAxis() {
return m_hid.getRightTriggerAxis();
return m_gamepad.getRightTriggerAxis();
}
}

43
commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java
View File

@@ -6,9 +6,13 @@ package org.wpilib.command2.button;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.POVDirection;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.event.EventLoop;
import org.wpilib.math.util.Pair;
@@ -17,7 +21,11 @@ import org.wpilib.math.util.Pair;
*
* @see GenericHID
*/
public class CommandGenericHID {
public final class CommandGenericHID {
private static final Lock m_hidsLock = new ReentrantLock();
private static final CommandGenericHID[] m_hids =
new CommandGenericHID[DriverStationBackend.JOYSTICK_PORTS];
private final GenericHID m_hid;
private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisLessThanCache =
@@ -34,7 +42,38 @@ public class CommandGenericHID {
* @param port The port index on the Driver Station that the device is plugged into.
*/
public CommandGenericHID(int port) {
m_hid = new GenericHID(port);
m_hid = DriverStation.getGenericHID(port);
}
/**
* Construct an instance of a device with a GenericHID object.
*
* @param hid The GenericHID object to use for this command HID.
*/
public CommandGenericHID(GenericHID hid) {
m_hid = hid;
}
/**
* Gets the CommandGenericHID object for the given port. CommandGenericHID objects are cached, so
* this will always return the same object for the same port.
*
* @param port The port index on the Driver Station that the device is plugged into.
* @return The CommandGenericHID object for the given port.
*/
public static CommandGenericHID getCommandGenericHID(int port) {
DriverStation.getGenericHID(port);
m_hidsLock.lock();
try {
CommandGenericHID toRet = m_hids[port];
if (toRet == null) {
toRet = new CommandGenericHID(port);
m_hids[port] = toRet;
}
return toRet;
} finally {
m_hidsLock.unlock();
}
}
/**

66
commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java
View File

@@ -5,6 +5,7 @@
package org.wpilib.command2.button;
import org.wpilib.command2.CommandScheduler;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Joystick;
import org.wpilib.event.EventLoop;
@@ -13,8 +14,9 @@ import org.wpilib.event.EventLoop;
*
* @see Joystick
*/
public class CommandJoystick extends CommandGenericHID {
private final Joystick m_hid;
public class CommandJoystick {
private final CommandGenericHID m_hid;
private final Joystick m_joystick;
/**
* Construct an instance of a controller.
@@ -22,20 +24,28 @@ public class CommandJoystick extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandJoystick(int port) {
super(port);
m_hid = new Joystick(port);
m_hid = CommandGenericHID.getCommandGenericHID(port);
m_joystick = new Joystick(DriverStation.getGenericHID(port));
}
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
@Override
public Joystick getHID() {
public CommandGenericHID getHID() {
return m_hid;
}
/**
* Get the underlying Joystick object.
*
* @return the wrapped Joystick object
*/
public Joystick getJoystick() {
return m_joystick;
}
/**
* Constructs an event instance around the trigger button's digital signal.
*
@@ -55,7 +65,7 @@ public class CommandJoystick extends CommandGenericHID {
* given loop.
*/
public Trigger trigger(EventLoop loop) {
return button(Joystick.ButtonType.kTrigger.value, loop);
return m_hid.button(Joystick.ButtonType.kTrigger.value, loop);
}
/**
@@ -77,7 +87,7 @@ public class CommandJoystick extends CommandGenericHID {
* loop.
*/
public Trigger top(EventLoop loop) {
return button(Joystick.ButtonType.kTop.value, loop);
return m_hid.button(Joystick.ButtonType.kTop.value, loop);
}
/**
@@ -86,7 +96,7 @@ public class CommandJoystick extends CommandGenericHID {
* @param channel The channel to set the axis to.
*/
public void setXChannel(int channel) {
m_hid.setXChannel(channel);
m_joystick.setXChannel(channel);
}
/**
@@ -95,7 +105,7 @@ public class CommandJoystick extends CommandGenericHID {
* @param channel The channel to set the axis to.
*/
public void setYChannel(int channel) {
m_hid.setYChannel(channel);
m_joystick.setYChannel(channel);
}
/**
@@ -104,7 +114,7 @@ public class CommandJoystick extends CommandGenericHID {
* @param channel The channel to set the axis to.
*/
public void setZChannel(int channel) {
m_hid.setZChannel(channel);
m_joystick.setZChannel(channel);
}
/**
@@ -113,7 +123,7 @@ public class CommandJoystick extends CommandGenericHID {
* @param channel The channel to set the axis to.
*/
public void setThrottleChannel(int channel) {
m_hid.setThrottleChannel(channel);
m_joystick.setThrottleChannel(channel);
}
/**
@@ -122,7 +132,7 @@ public class CommandJoystick extends CommandGenericHID {
* @param channel The channel to set the axis to.
*/
public void setTwistChannel(int channel) {
m_hid.setTwistChannel(channel);
m_joystick.setTwistChannel(channel);
}
/**
@@ -131,7 +141,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getXChannel() {
return m_hid.getXChannel();
return m_joystick.getXChannel();
}
/**
@@ -140,7 +150,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getYChannel() {
return m_hid.getYChannel();
return m_joystick.getYChannel();
}
/**
@@ -149,7 +159,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getZChannel() {
return m_hid.getZChannel();
return m_joystick.getZChannel();
}
/**
@@ -158,7 +168,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getTwistChannel() {
return m_hid.getTwistChannel();
return m_joystick.getTwistChannel();
}
/**
@@ -167,7 +177,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getThrottleChannel() {
return m_hid.getThrottleChannel();
return m_joystick.getThrottleChannel();
}
/**
@@ -179,7 +189,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the x position
*/
public double getX() {
return m_hid.getX();
return m_joystick.getX();
}
/**
@@ -191,7 +201,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the y position
*/
public double getY() {
return m_hid.getY();
return m_joystick.getY();
}
/**
@@ -200,7 +210,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the z position
*/
public double getZ() {
return m_hid.getZ();
return m_joystick.getZ();
}
/**
@@ -210,7 +220,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The Twist value of the joystick.
*/
public double getTwist() {
return m_hid.getTwist();
return m_joystick.getTwist();
}
/**
@@ -220,7 +230,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The Throttle value of the joystick.
*/
public double getThrottle() {
return m_hid.getThrottle();
return m_joystick.getThrottle();
}
/**
@@ -230,7 +240,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The magnitude of the direction vector
*/
public double getMagnitude() {
return m_hid.getMagnitude();
return m_joystick.getMagnitude();
}
/**
@@ -248,7 +258,7 @@ public class CommandJoystick extends CommandGenericHID {
//
// It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
// so that 0 radians is forward.
return m_hid.getDirectionRadians();
return m_joystick.getDirectionRadians();
}
/**
@@ -258,6 +268,6 @@ public class CommandJoystick extends CommandGenericHID {
* @return The direction of the vector in degrees
*/
public double getDirectionDegrees() {
return m_hid.getDirectionDegrees();
return m_joystick.getDirectionDegrees();
}
}

11
commandsv2/src/main/java/org/wpilib/command2/button/JoystickButton.java
View File

@@ -7,6 +7,7 @@ package org.wpilib.command2.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.HIDDevice;
/**
* A {@link Trigger} that gets its state from a {@link GenericHID}.
@@ -24,4 +25,14 @@ public class JoystickButton extends Trigger {
super(() -> joystick.getRawButton(buttonNumber));
requireNonNullParam(joystick, "joystick", "JoystickButton");
}
/**
* Creates a joystick button for triggering commands.
*
* @param joystick The HIDDevice object that has the button
* @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
*/
public JoystickButton(HIDDevice joystick, int buttonNumber) {
this(requireNonNullParam(joystick, "joystick", "JoystickButton").getHID(), buttonNumber);
}
}

22
commandsv2/src/main/java/org/wpilib/command2/button/POVButton.java
View File

@@ -7,6 +7,7 @@ package org.wpilib.command2.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.HIDDevice;
import org.wpilib.driverstation.POVDirection;
/**
@@ -36,4 +37,25 @@ public class POVButton extends Trigger {
public POVButton(GenericHID joystick, POVDirection angle) {
this(joystick, angle, 0);
}
/**
* Creates a POV button for triggering commands.
*
* @param joystick The HIDDevice object that has the POV
* @param angle The desired angle
* @param povNumber The POV number (see {@link GenericHID#getPOV(int)})
*/
public POVButton(HIDDevice joystick, POVDirection angle, int povNumber) {
this(requireNonNullParam(joystick, "joystick", "POVButton").getHID(), angle, povNumber);
}
/**
* Creates a POV button for triggering commands. By default, acts on POV 0
*
* @param joystick The HIDDevice object that has the POV
* @param angle The desired angle
*/
public POVButton(HIDDevice joystick, POVDirection angle) {
this(joystick, angle, 0);
}
}

43
commandsv2/src/main/native/cpp/button/CommandGamepad.cpp
View File

@@ -9,15 +9,24 @@
using namespace wpi::cmd;
CommandGamepad::CommandGamepad(int port)
: CommandGenericHID(port), m_hid{wpi::Gamepad(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_gamepad{&wpi::DriverStation::GetGamepad(port)} {}
wpi::Gamepad& CommandGamepad::GetHID() {
return m_hid;
CommandGenericHID& CommandGamepad::GetHID() {
return *m_hid;
}
wpi::Gamepad& CommandGamepad::GetGamepad() {
return *m_gamepad;
}
Trigger CommandGamepad::Button(int button, wpi::EventLoop* loop) const {
return m_hid->Button(button, loop);
}
Trigger CommandGamepad::Button(enum wpi::Gamepad::Button button,
wpi::EventLoop* loop) const {
return CommandGenericHID::Button(static_cast<int>(button), loop);
return Button(static_cast<int>(button), loop);
}
Trigger CommandGamepad::FaceDown(wpi::EventLoop* loop) const {
@@ -127,57 +136,55 @@ Trigger CommandGamepad::Misc6(wpi::EventLoop* loop) const {
Trigger CommandGamepad::LeftTrigger(double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, threshold] {
return m_hid.GetAxis(wpi::Gamepad::Axis::LEFT_TRIGGER) > threshold;
return m_gamepad->GetAxis(wpi::Gamepad::Axis::LEFT_TRIGGER) > threshold;
});
}
Trigger CommandGamepad::RightTrigger(double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, threshold] {
return m_hid.GetAxis(wpi::Gamepad::Axis::RIGHT_TRIGGER) > threshold;
return m_gamepad->GetAxis(wpi::Gamepad::Axis::RIGHT_TRIGGER) > threshold;
});
}
Trigger CommandGamepad::AxisLessThan(wpi::Gamepad::Axis axis, double threshold,
wpi::EventLoop* loop) const {
return CommandGenericHID::AxisLessThan(static_cast<int>(axis), threshold,
loop);
return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
}
Trigger CommandGamepad::AxisGreaterThan(wpi::Gamepad::Axis axis,
double threshold,
wpi::EventLoop* loop) const {
return CommandGenericHID::AxisGreaterThan(static_cast<int>(axis), threshold,
loop);
return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
}
Trigger CommandGamepad::AxisMagnitudeGreaterThan(wpi::Gamepad::Axis axis,
double threshold,
wpi::EventLoop* loop) const {
return CommandGenericHID::AxisMagnitudeGreaterThan(static_cast<int>(axis),
threshold, loop);
return m_hid->AxisMagnitudeGreaterThan(static_cast<int>(axis), threshold,
loop);
}
double CommandGamepad::GetLeftX() const {
return m_hid.GetLeftX();
return m_gamepad->GetLeftX();
}
double CommandGamepad::GetLeftY() const {
return m_hid.GetLeftY();
return m_gamepad->GetLeftY();
}
double CommandGamepad::GetRightX() const {
return m_hid.GetRightX();
return m_gamepad->GetRightX();
}
double CommandGamepad::GetRightY() const {
return m_hid.GetRightY();
return m_gamepad->GetRightY();
}
double CommandGamepad::GetLeftTriggerAxis() const {
return m_hid.GetLeftTriggerAxis();
return m_gamepad->GetLeftTriggerAxis();
}
double CommandGamepad::GetRightTriggerAxis() const {
return m_hid.GetRightTriggerAxis();
return m_gamepad->GetRightTriggerAxis();
}

43
commandsv2/src/main/native/cpp/button/CommandGenericHID.cpp
View File

@@ -4,16 +4,41 @@
#include "wpi/commands2/button/CommandGenericHID.hpp"
#include <array>
#include <memory>
#include <mutex>
using namespace wpi::cmd;
CommandGenericHID::CommandGenericHID(int port) : m_hid{port} {}
namespace {
std::mutex hidsMutex;
std::array<std::unique_ptr<CommandGenericHID>,
wpi::internal::DriverStationBackend::JOYSTICK_PORTS>
hids;
} // namespace
CommandGenericHID::CommandGenericHID(int port)
: CommandGenericHID{wpi::DriverStation::GetGenericHID(port)} {}
CommandGenericHID::CommandGenericHID(wpi::GenericHID& hid) : m_hid{&hid} {}
CommandGenericHID& CommandGenericHID::GetCommandGenericHID(int port) {
auto& hid = wpi::DriverStation::GetGenericHID(port);
std::scoped_lock lock{hidsMutex};
if (!hids[port]) {
hids[port] = std::make_unique<CommandGenericHID>(hid);
}
return *hids[port];
}
wpi::GenericHID& CommandGenericHID::GetHID() {
return m_hid;
return *m_hid;
}
Trigger CommandGenericHID::Button(int button, wpi::EventLoop* loop) const {
return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
return Trigger(loop, [this, button] { return m_hid->GetRawButton(button); });
}
Trigger CommandGenericHID::POV(wpi::POVDirection angle,
@@ -24,7 +49,7 @@ Trigger CommandGenericHID::POV(wpi::POVDirection angle,
Trigger CommandGenericHID::POV(int pov, wpi::POVDirection angle,
wpi::EventLoop* loop) const {
return Trigger(loop,
[this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
[this, pov, angle] { return m_hid->GetPOV(pov) == angle; });
}
Trigger CommandGenericHID::POVUp(wpi::EventLoop* loop) const {
@@ -66,29 +91,29 @@ Trigger CommandGenericHID::POVCenter(wpi::EventLoop* loop) const {
Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return m_hid.GetRawAxis(axis) < threshold;
return m_hid->GetRawAxis(axis) < threshold;
});
}
Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
wpi::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return m_hid.GetRawAxis(axis) > threshold;
return m_hid->GetRawAxis(axis) > threshold;
});
}
Trigger CommandGenericHID::AxisMagnitudeGreaterThan(
int axis, double threshold, wpi::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return std::abs(m_hid.GetRawAxis(axis)) > threshold;
return std::abs(m_hid->GetRawAxis(axis)) > threshold;
});
}
void CommandGenericHID::SetRumble(wpi::GenericHID::RumbleType type,
double value) {
m_hid.SetRumble(type, value);
m_hid->SetRumble(type, value);
}
bool CommandGenericHID::IsConnected() const {
return m_hid.IsConnected();
return m_hid->IsConnected();
}

19
commandsv2/src/main/native/cpp/button/CommandJoystick.cpp
View File

@@ -7,22 +7,27 @@
using namespace wpi::cmd;
CommandJoystick::CommandJoystick(int port)
: CommandGenericHID(port), m_hid{wpi::Joystick(port)} {}
: m_hid{&CommandGenericHID::GetCommandGenericHID(port)},
m_joystick{wpi::DriverStation::GetGenericHID(port)} {}
wpi::Joystick& CommandJoystick::GetHID() {
return m_hid;
CommandGenericHID& CommandJoystick::GetHID() {
return *m_hid;
}
wpi::Joystick& CommandJoystick::GetJoystick() {
return m_joystick;
}
Trigger CommandJoystick::Trigger(wpi::EventLoop* loop) const {
return Button(wpi::Joystick::ButtonType::kTriggerButton, loop);
return m_hid->Button(wpi::Joystick::ButtonType::kTriggerButton, loop);
}
Trigger CommandJoystick::Top(wpi::EventLoop* loop) const {
return Button(wpi::Joystick::ButtonType::kTopButton, loop);
return m_hid->Button(wpi::Joystick::ButtonType::kTopButton, loop);
}
double CommandJoystick::GetMagnitude() const {
return m_hid.GetMagnitude();
return m_joystick.GetMagnitude();
}
wpi::units::radian_t CommandJoystick::GetDirection() const {
@@ -34,5 +39,5 @@ wpi::units::radian_t CommandJoystick::GetDirection() const {
//
// It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
// so that 0 radians is forward.
return m_hid.GetDirection();
return m_joystick.GetDirection();
}

31
commandsv2/src/main/native/include/wpi/commands2/button/CommandGamepad.hpp
View File

@@ -15,7 +15,7 @@ namespace wpi::cmd {
*
* @see wpi::Gamepad
*/
class CommandGamepad : public CommandGenericHID {
class CommandGamepad {
public:
/**
* Construct an instance of a controller.
@@ -26,11 +26,31 @@ class CommandGamepad : public CommandGenericHID {
explicit CommandGamepad(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::Gamepad& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying Gamepad object.
*
* @return the wrapped Gamepad object
*/
wpi::Gamepad& GetGamepad();
/**
* 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,
wpi::EventLoop* loop = CommandScheduler::GetInstance()
.GetDefaultButtonLoop()) const;
/**
* Constructs an event instance around this button's digital signal.
@@ -490,6 +510,7 @@ class CommandGamepad : public CommandGenericHID {
double GetRightTriggerAxis() const;
private:
wpi::Gamepad m_hid;
CommandGenericHID* m_hid;
wpi::Gamepad* m_gamepad;
};
} // namespace wpi::cmd

23
commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
View File

@@ -6,6 +6,7 @@
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
@@ -18,7 +19,7 @@ namespace wpi::cmd {
*
* @see GenericHID
*/
class CommandGenericHID {
class CommandGenericHID final {
public:
/**
* Construct an instance of a device.
@@ -28,6 +29,24 @@ class CommandGenericHID {
*/
explicit CommandGenericHID(int port);
/**
* Construct an instance of a device with a GenericHID object.
*
* @param hid The GenericHID object to use for this command HID.
*/
explicit CommandGenericHID(wpi::GenericHID& hid);
/**
* Gets the CommandGenericHID object for the given port. CommandGenericHID
* objects are cached, so this will always return the same object for the same
* port.
*
* @param port The port index on the Driver Station that the device is
* plugged into.
* @return The CommandGenericHID object for the given port.
*/
static CommandGenericHID& GetCommandGenericHID(int port);
/**
* Get the underlying GenericHID object.
*
@@ -259,6 +278,6 @@ class CommandGenericHID {
bool IsConnected() const;
private:
wpi::GenericHID m_hid;
wpi::GenericHID* m_hid;
};
} // namespace wpi::cmd

18
commandsv2/src/main/native/include/wpi/commands2/button/CommandJoystick.hpp
View File

@@ -15,7 +15,7 @@ namespace wpi::cmd {
*
* @see wpi::Joystick
*/
class CommandJoystick : public CommandGenericHID {
class CommandJoystick {
public:
/**
* Construct an instance of a controller.
@@ -26,11 +26,18 @@ class CommandJoystick : public CommandGenericHID {
explicit CommandJoystick(int port);
/**
* Get the underlying GenericHID object.
* Get the underlying CommandGenericHID object.
*
* @return the wrapped GenericHID object
* @return the wrapped CommandGenericHID object
*/
wpi::Joystick& GetHID();
CommandGenericHID& GetHID();
/**
* Get the underlying Joystick object.
*
* @return the wrapped Joystick object
*/
wpi::Joystick& GetJoystick();
/**
* Constructs an event instance around the trigger button's digital signal.
@@ -72,6 +79,7 @@ class CommandJoystick : public CommandGenericHID {
wpi::units::radian_t GetDirection() const;
private:
wpi::Joystick m_hid;
CommandGenericHID* m_hid;
wpi::Joystick m_joystick;
};
} // namespace wpi::cmd

10
commandsv2/src/main/native/include/wpi/commands2/button/JoystickButton.hpp
View File

@@ -5,6 +5,7 @@
#pragma once
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
namespace wpi::cmd {
/**
@@ -27,5 +28,14 @@ class JoystickButton : public Trigger {
: Trigger([joystick, buttonNumber] {
return joystick->GetRawButton(buttonNumber);
}) {}
/**
* Creates a JoystickButton that commands can be bound to.
*
* @param joystick The HID device on which the button is located.
* @param buttonNumber The number of the button on the HID device.
*/
explicit JoystickButton(wpi::HIDDevice* joystick, int buttonNumber)
: JoystickButton(&joystick->GetHID(), buttonNumber) {}
};
} // namespace wpi::cmd

12
commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
View File

@@ -6,6 +6,7 @@
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/driverstation/POVDirection.hpp"
namespace wpi::cmd {
@@ -31,5 +32,16 @@ class POVButton : public Trigger {
: Trigger([joystick, angle, povNumber] {
return joystick->GetPOV(povNumber) == angle;
}) {}
/**
* Creates a POVButton that commands can be bound to.
*
* @param joystick The HID device on which the POV is located.
* @param angle The angle of the POV corresponding to a button press.
* @param povNumber The number of the POV on the HID device.
*/
POVButton(wpi::HIDDevice* joystick, wpi::POVDirection angle,
int povNumber = 0)
: POVButton(&joystick->GetHID(), angle, povNumber) {}
};
} // namespace wpi::cmd

2
commandsv2/src/main/python/commands2/button/__init__.py
View File

@@ -1,4 +1,5 @@
from .commandgenerichid import CommandGenericHID
from .commandgamepad import CommandGamepad
from .commandjoystick import CommandJoystick
from .commandnidsps4controller import CommandNiDsPS4Controller
from .commandnidsxboxcontroller import CommandNiDsXboxController
@@ -10,6 +11,7 @@ from .trigger import Trigger
__all__ = [
"Trigger",
"CommandGenericHID",
"CommandGamepad",
"CommandJoystick",
"CommandNiDsPS4Controller",
"CommandNiDsXboxController",

190
commandsv2/src/main/python/commands2/button/commandgamepad.py Normal file
View File

@@ -0,0 +1,190 @@
# validated: 2024-01-20 DS 92149efa11fa button/CommandGamepad.java
from typing import Optional
from wpilib import DriverStation, EventLoop, Gamepad
from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
def _enum_value(value) -> int:
try:
return int(value)
except TypeError:
return value.value
class CommandGamepad:
"""
A version of :class:`wpilib.Gamepad` with :class:`.Trigger` factories for command-based.
"""
_hid: CommandGenericHID
_gamepad: Gamepad
def __init__(self, port: int):
"""
Construct an instance of a controller.
:param port: The port index on the Driver Station that the controller is plugged into.
"""
self._hid = CommandGenericHID.getCommandGenericHID(port)
self._gamepad = DriverStation.getGamepad(port)
def __getattr__(self, name: str):
return getattr(self._hid, name)
def getHID(self) -> CommandGenericHID:
"""
Get the underlying CommandGenericHID object.
:returns: the wrapped CommandGenericHID object
"""
return self._hid
def getGamepad(self) -> Gamepad:
"""
Get the underlying Gamepad object.
:returns: the wrapped Gamepad object
"""
return self._gamepad
def button(self, button, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around this button's digital signal.
:param button: the button index or :class:`wpilib.Gamepad.Button`
:param loop: the event loop instance to attach the event to
"""
return self._hid.button(_enum_value(button), loop)
def faceDown(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.FACE_DOWN, loop)
def faceRight(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.FACE_RIGHT, loop)
def faceLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.FACE_LEFT, loop)
def faceUp(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.FACE_UP, loop)
def back(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.BACK, loop)
def guide(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.GUIDE, loop)
def start(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.START, loop)
def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.LEFT_STICK, loop)
def rightStick(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.RIGHT_STICK, loop)
def leftBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.LEFT_BUMPER, loop)
def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.RIGHT_BUMPER, loop)
def dpadUp(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.DPAD_UP, loop)
def dpadDown(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.DPAD_DOWN, loop)
def dpadLeft(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.DPAD_LEFT, loop)
def dpadRight(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.DPAD_RIGHT, loop)
def misc1(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_1, loop)
def rightPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.RIGHT_PADDLE_1, loop)
def leftPaddle1(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.LEFT_PADDLE_1, loop)
def rightPaddle2(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.RIGHT_PADDLE_2, loop)
def leftPaddle2(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.LEFT_PADDLE_2, loop)
def touchpad(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.TOUCHPAD, loop)
def misc2(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_2, loop)
def misc3(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_3, loop)
def misc4(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_4, loop)
def misc5(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_5, loop)
def misc6(self, loop: Optional[EventLoop] = None) -> Trigger:
return self.button(Gamepad.Button.MISC_6, loop)
def leftTrigger(
self, threshold: float = 0.5, loop: Optional[EventLoop] = None
) -> Trigger:
return self.axisGreaterThan(Gamepad.Axis.LEFT_TRIGGER, threshold, loop)
def rightTrigger(
self, threshold: float = 0.5, loop: Optional[EventLoop] = None
) -> Trigger:
return self.axisGreaterThan(Gamepad.Axis.RIGHT_TRIGGER, threshold, loop)
def axisLessThan(
self, axis, threshold: float, loop: Optional[EventLoop] = None
) -> Trigger:
return self._hid.axisLessThan(_enum_value(axis), threshold, loop)
def axisGreaterThan(
self, axis, threshold: float, loop: Optional[EventLoop] = None
) -> Trigger:
return self._hid.axisGreaterThan(_enum_value(axis), threshold, loop)
def axisMagnitudeGreaterThan(
self, axis, threshold: float, loop: Optional[EventLoop] = None
) -> Trigger:
return self._hid.axisMagnitudeGreaterThan(_enum_value(axis), threshold, loop)
def getAxis(self, axis) -> float:
"""
Get the value of the axis.
:param axis: the axis index or :class:`wpilib.Gamepad.Axis`
"""
return self._hid.getRawAxis(_enum_value(axis))
def getLeftX(self) -> float:
return self._gamepad.getLeftX()
def getLeftY(self) -> float:
return self._gamepad.getLeftY()
def getRightX(self) -> float:
return self._gamepad.getRightX()
def getRightY(self) -> float:
return self._gamepad.getRightY()
def getLeftTriggerAxis(self) -> float:
return self._gamepad.getLeftTriggerAxis()
def getRightTriggerAxis(self) -> float:
return self._gamepad.getRightTriggerAxis()

28
commandsv2/src/main/python/commands2/button/commandgenerichid.py
View File

@@ -1,24 +1,41 @@
# validated: 2024-01-20 DS 92149efa11fa button/CommandGenericHID.java
from typing import Optional
import threading
from typing import ClassVar, Optional, final
from wpilib import EventLoop, GenericHID
from wpilib import DriverStation, EventLoop, GenericHID
from ..commandscheduler import CommandScheduler
from .trigger import Trigger
@final
class CommandGenericHID:
"""
A version of :class:`wpilib.GenericHID` with :class:`.Trigger` factories for command-based.
"""
_hids: ClassVar[dict[int, "CommandGenericHID"]] = {}
_hids_lock = threading.Lock()
def __init__(self, port: int):
"""
Construct an instance of a device.
:param port: The port on the Driver Station that the device is plugged into.
"""
self._hid = GenericHID(port)
self._hid = DriverStation.getGenericHID(port)
@classmethod
def getCommandGenericHID(cls, port: int) -> "CommandGenericHID":
"""
Gets the CommandGenericHID object for the given port.
"""
with cls._hids_lock:
hid = cls._hids.get(port)
if hid is None:
hid = cls(port)
cls._hids[port] = hid
return hid
def getHID(self) -> GenericHID:
"""
@@ -221,3 +238,8 @@ class CommandGenericHID:
:returns: True if the HID is connected.
"""
return self._hid.isConnected()
def _resetCommandGenericHIDData() -> None:
with CommandGenericHID._hids_lock:
CommandGenericHID._hids.clear()

66
commandsv2/src/main/python/commands2/button/commandjoystick.py
View File

@@ -8,12 +8,13 @@ from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
class CommandJoystick(CommandGenericHID):
class CommandJoystick:
"""
A version of :class:`wpilib.Joystick` with :class:`.Trigger` factories for command-based.
"""
_hid: Joystick
_hid: CommandGenericHID
_joystick: Joystick
def __init__(self, port: int):
"""
@@ -22,17 +23,28 @@ class CommandJoystick(CommandGenericHID):
:param port: The port index on the Driver Station that the controller is plugged into.
"""
super().__init__(port)
self._hid = Joystick(port)
self._hid = CommandGenericHID.getCommandGenericHID(port)
self._joystick = Joystick(self._hid.getHID())
def getHID(self) -> Joystick:
def __getattr__(self, name: str):
return getattr(self._hid, name)
def getHID(self) -> CommandGenericHID:
"""
Get the underlying GenericHID object.
Get the underlying CommandGenericHID object.
:returns: the wrapped GenericHID object
:returns: the wrapped CommandGenericHID object
"""
return self._hid
def getJoystick(self) -> Joystick:
"""
Get the underlying Joystick object.
:returns: the wrapped Joystick object
"""
return self._joystick
def trigger(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
Constructs an event instance around the trigger button's digital signal.
@@ -45,7 +57,7 @@ class CommandJoystick(CommandGenericHID):
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getTrigger())
return Trigger(loop, lambda: self._joystick.getTrigger())
def top(self, loop: Optional[EventLoop] = None) -> Trigger:
"""
@@ -59,7 +71,7 @@ class CommandJoystick(CommandGenericHID):
"""
if loop is None:
loop = CommandScheduler.getInstance().getDefaultButtonLoop()
return Trigger(loop, lambda: self._hid.getTop())
return Trigger(loop, lambda: self._joystick.getTop())
def setXChannel(self, channel: int):
"""
@@ -67,7 +79,7 @@ class CommandJoystick(CommandGenericHID):
:param channel: The channel to set the axis to.
"""
self._hid.setXChannel(channel)
self._joystick.setXChannel(channel)
def setYChannel(self, channel: int):
"""
@@ -75,7 +87,7 @@ class CommandJoystick(CommandGenericHID):
:param channel: The channel to set the axis to.
"""
self._hid.setYChannel(channel)
self._joystick.setYChannel(channel)
def setZChannel(self, channel: int):
"""
@@ -83,7 +95,7 @@ class CommandJoystick(CommandGenericHID):
:param channel: The channel to set the axis to.
"""
self._hid.setZChannel(channel)
self._joystick.setZChannel(channel)
def setThrottleChannel(self, channel: int):
"""
@@ -91,7 +103,7 @@ class CommandJoystick(CommandGenericHID):
:param channel: The channel to set the axis to.
"""
self._hid.setThrottleChannel(channel)
self._joystick.setThrottleChannel(channel)
def setTwistChannel(self, channel: int):
"""
@@ -99,7 +111,7 @@ class CommandJoystick(CommandGenericHID):
:param channel: The channel to set the axis to.
"""
self._hid.setTwistChannel(channel)
self._joystick.setTwistChannel(channel)
def getXChannel(self) -> int:
"""
@@ -107,7 +119,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The channel for the axis.
"""
return self._hid.getXChannel()
return self._joystick.getXChannel()
def getYChannel(self) -> int:
"""
@@ -115,7 +127,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The channel for the axis.
"""
return self._hid.getYChannel()
return self._joystick.getYChannel()
def getZChannel(self) -> int:
"""
@@ -123,7 +135,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The channel for the axis.
"""
return self._hid.getZChannel()
return self._joystick.getZChannel()
def getTwistChannel(self) -> int:
"""
@@ -131,7 +143,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The channel for the axis.
"""
return self._hid.getTwistChannel()
return self._joystick.getTwistChannel()
def getThrottleChannel(self) -> int:
"""
@@ -139,7 +151,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The channel for the axis.
"""
return self._hid.getThrottleChannel()
return self._joystick.getThrottleChannel()
def getX(self) -> float:
"""
@@ -150,7 +162,7 @@ class CommandJoystick(CommandGenericHID):
:returns: the x position
"""
return self._hid.getX()
return self._joystick.getX()
def getY(self) -> float:
"""
@@ -161,7 +173,7 @@ class CommandJoystick(CommandGenericHID):
:returns: the y position
"""
return self._hid.getY()
return self._joystick.getY()
def getZ(self) -> float:
"""
@@ -169,7 +181,7 @@ class CommandJoystick(CommandGenericHID):
:returns: the z position
"""
return self._hid.getZ()
return self._joystick.getZ()
def getTwist(self) -> float:
"""
@@ -178,7 +190,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The Twist value of the joystick.
"""
return self._hid.getTwist()
return self._joystick.getTwist()
def getThrottle(self) -> float:
"""
@@ -187,7 +199,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The Throttle value of the joystick.
"""
return self._hid.getThrottle()
return self._joystick.getThrottle()
def getMagnitude(self) -> float:
"""
@@ -196,7 +208,7 @@ class CommandJoystick(CommandGenericHID):
:returns: The magnitude of the direction vector
"""
return self._hid.getMagnitude()
return self._joystick.getMagnitude()
def getDirectionRadians(self) -> float:
"""
@@ -213,7 +225,7 @@ class CommandJoystick(CommandGenericHID):
#
# It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
# so that 0 radians is forward.
return self._hid.getDirectionRadians()
return self._joystick.getDirectionRadians()
def getDirectionDegrees(self) -> float:
"""
@@ -222,4 +234,4 @@ class CommandJoystick(CommandGenericHID):
:returns: The direction of the vector in degrees
"""
return self._hid.getDirectionDegrees()
return self._joystick.getDirectionDegrees()

24
commandsv2/src/main/python/commands2/button/commandnidsps4controller.py
View File

@@ -8,11 +8,12 @@ from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
class CommandNiDsPS4Controller(CommandGenericHID):
class CommandNiDsPS4Controller:
"""
A version of NI DS PS4Controller with Trigger factories for command-based.
"""
_command_hid: CommandGenericHID
_hid: NiDsPS4Controller
def __init__(self, port: int):
@@ -21,14 +22,25 @@ class CommandNiDsPS4Controller(CommandGenericHID):
:param port: The port index on the Driver Station that the device is plugged into.
"""
super().__init__(port)
self._hid = NiDsPS4Controller(port)
self._command_hid = CommandGenericHID.getCommandGenericHID(port)
self._hid = NiDsPS4Controller(self._command_hid.getHID())
def getHID(self) -> NiDsPS4Controller:
def __getattr__(self, name: str):
return getattr(self._command_hid, name)
def getHID(self) -> CommandGenericHID:
"""
Get the underlying GenericHID object.
Get the underlying CommandGenericHID object.
:returns: the wrapped GenericHID object
:returns: the wrapped CommandGenericHID object
"""
return self._command_hid
def getNiDsPS4Controller(self) -> NiDsPS4Controller:
"""
Get the underlying NiDsPS4Controller object.
:returns: the wrapped NiDsPS4Controller object
"""
return self._hid

24
commandsv2/src/main/python/commands2/button/commandnidsxboxcontroller.py
View File

@@ -8,11 +8,12 @@ from .commandgenerichid import CommandGenericHID
from .trigger import Trigger
class CommandNiDsXboxController(CommandGenericHID):
class CommandNiDsXboxController:
"""
A version of NI DS XboxController with Trigger factories for command-based.
"""
_command_hid: CommandGenericHID
_hid: NiDsXboxController
def __init__(self, port: int):
@@ -21,14 +22,25 @@ class CommandNiDsXboxController(CommandGenericHID):
:param port: The port index on the Driver Station that the controller is plugged into.
"""
super().__init__(port)
self._hid = NiDsXboxController(port)
self._command_hid = CommandGenericHID.getCommandGenericHID(port)
self._hid = NiDsXboxController(self._command_hid.getHID())
def getHID(self) -> NiDsXboxController:
def __getattr__(self, name: str):
return getattr(self._command_hid, name)
def getHID(self) -> CommandGenericHID:
"""
Get the underlying GenericHID object.
Get the underlying CommandGenericHID object.
:returns: the wrapped GenericHID object
:returns: the wrapped CommandGenericHID object
"""
return self._command_hid
def getNiDsXboxController(self) -> NiDsXboxController:
"""
Get the underlying NiDsXboxController object.
:returns: the wrapped NiDsXboxController object
"""
return self._hid

54
commandsv2/src/test/python/test_commandgenerichid.py Normal file
View File

@@ -0,0 +1,54 @@
import threading
import time
from commands2.button.commandgenerichid import (
CommandGenericHID,
_resetCommandGenericHIDData,
)
def test_get_command_generic_hid_is_thread_safe(monkeypatch):
monkeypatch.setattr(CommandGenericHID, "_hids", {})
init_count = 0
init_count_lock = threading.Lock()
def fake_init(self, port):
nonlocal init_count
with init_count_lock:
init_count += 1
time.sleep(0.02)
self._hid = object()
monkeypatch.setattr(CommandGenericHID, "__init__", fake_init)
thread_count = 16
start = threading.Barrier(thread_count)
results = [None] * thread_count
exceptions = []
def worker(index):
try:
start.wait()
results[index] = CommandGenericHID.getCommandGenericHID(0)
except Exception as exc:
exceptions.append(exc)
threads = [threading.Thread(target=worker, args=(i,)) for i in range(thread_count)]
for thread in threads:
thread.start()
for thread in threads:
thread.join()
assert not exceptions
assert init_count == 1
assert len({id(result) for result in results}) == 1
def test_reset_command_generic_hid_data(monkeypatch):
first = object()
monkeypatch.setattr(CommandGenericHID, "_hids", {0: first})
_resetCommandGenericHIDData()
assert CommandGenericHID._hids == {}