[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/main/python/commands2/button/__init__.py

@@ -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",

commandsv2/src/main/python/commands2/button/commandgamepad.py

@@ -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()

commandsv2/src/main/python/commands2/button/commandgenerichid.py

@@ -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()

commandsv2/src/main/python/commands2/button/commandjoystick.py

@@ -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()

commandsv2/src/main/python/commands2/button/commandnidsps4controller.py

@@ -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
 

commandsv2/src/main/python/commands2/button/commandnidsxboxcontroller.py

@@ -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