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

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>

commandsv2/src/generate/main/java/commandhid.java.jinja

@@ -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 -%}
 }

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

@@ -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 -%}

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

@@ -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