[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>

wpilibc/src/test/native/cpp/DriverStationTest.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <string>
+#include <cstring>
 #include <tuple>
 
 #include <gtest/gtest.h>
@@ -37,7 +37,7 @@ INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTest,
                                            std::make_tuple(4, 10, 1, true)));
 class JoystickConnectionWarningTest
     : public ::testing::TestWithParam<
-          std::tuple<bool, bool, bool, std::string>> {};
+          std::tuple<bool, bool, bool, const char*>> {};
 
 TEST_P(JoystickConnectionWarningTest, JoystickConnectionWarnings) {
   // Capture all output to stderr.
@@ -51,15 +51,17 @@ TEST_P(JoystickConnectionWarningTest, JoystickConnectionWarnings) {
 
   // Create joystick and attempt to retrieve button.
   wpi::Joystick joystick(0);
-  joystick.GetRawButton(1);
+  joystick.GetHID().GetRawButton(1);
 
   wpi::sim::StepTiming(1_s);
   EXPECT_EQ(wpi::internal::DriverStationBackend::
                 IsJoystickConnectionWarningSilenced(),
             std::get<2>(GetParam()));
-  EXPECT_EQ(::testing::internal::GetCapturedStderr().substr(
-                0, std::get<3>(GetParam()).size()),
-            std::get<3>(GetParam()));
+  auto expected = std::get<3>(GetParam());
+  EXPECT_STREQ(::testing::internal::GetCapturedStderr()
+                   .substr(0, std::strlen(expected))
+                   .c_str(),
+               expected);
 }
 
 INSTANTIATE_TEST_SUITE_P(

wpilibc/src/test/native/cpp/GenericHIDTest.cpp

@@ -6,13 +6,14 @@
 
 #include <gtest/gtest.h>
 
+#include "wpi/driverstation/internal/DriverStationBackend.hpp"
 #include "wpi/simulation/GenericHIDSim.hpp"
 
 using namespace wpi;
 using RumbleType = GenericHID::RumbleType;
 static constexpr double kEpsilon = 0.0001;
 TEST(GenericHIDTest, RumbleRange) {
-  GenericHID hid{0};
+  GenericHID hid = internal::DriverStationBackend::ConstructGenericHID(0);
   sim::GenericHIDSim sim{0};
 
   for (int i = 0; i <= 100; i++) {
@@ -34,7 +35,7 @@ TEST(GenericHIDTest, RumbleRange) {
 }
 
 TEST(GenericHIDTest, RumbleTypes) {
-  GenericHID hid{0};
+  GenericHID hid = internal::DriverStationBackend::ConstructGenericHID(0);
   sim::GenericHIDSim sim{0};
 
   // Make sure all are off

wpilibc/src/test/python/test_generic_hid.py

@@ -0,0 +1,67 @@
+import pytest
+
+from wpilib import DriverStation, DriverStationBackend, GenericHID
+from wpilib.simulation import DriverStationSim, GenericHIDSim
+
+
+RumbleType = GenericHID.RumbleType
+RUMBLE_TYPES = (
+    RumbleType.LEFT_RUMBLE,
+    RumbleType.RIGHT_RUMBLE,
+    RumbleType.LEFT_TRIGGER_RUMBLE,
+    RumbleType.RIGHT_TRIGGER_RUMBLE,
+)
+
+
+@pytest.fixture(autouse=True)
+def reset_driver_station_sim():
+    DriverStationSim.resetData()
+    yield
+    DriverStationBackend.resetCachedHIDData()
+    DriverStationSim.resetData()
+
+
+def test_rumble_range() -> None:
+    hid = DriverStationBackend.constructGenericHID(0)
+    sim = GenericHIDSim(0)
+
+    for i in range(101):
+        rumble_value = i / 100.0
+
+        for rumble_type in RUMBLE_TYPES:
+            hid.setRumble(rumble_type, rumble_value)
+            assert sim.getRumble(rumble_type) == pytest.approx(
+                rumble_value, abs=0.0001
+            )
+
+
+def test_rumble_types() -> None:
+    hid = DriverStationBackend.constructGenericHID(0)
+    sim = GenericHIDSim(0)
+
+    for rumble_type in RUMBLE_TYPES:
+        hid.setRumble(rumble_type, 0)
+
+    for rumble_type in RUMBLE_TYPES:
+        assert sim.getRumble(rumble_type) == pytest.approx(0, abs=0.0001)
+
+    for active_rumble_type in RUMBLE_TYPES:
+        hid.setRumble(active_rumble_type, 1)
+
+        for rumble_type in RUMBLE_TYPES:
+            expected = 1 if rumble_type == active_rumble_type else 0
+            assert sim.getRumble(rumble_type) == pytest.approx(
+                expected, abs=0.0001
+            )
+
+        hid.setRumble(active_rumble_type, 0)
+
+
+def test_cached_hid_data_reset() -> None:
+    DriverStation.getGenericHID(0)
+    DriverStation.getGamepad(0)
+
+    DriverStationBackend.resetCachedHIDData()
+
+    assert DriverStation.getGenericHID(0).getPort() == 0
+    assert DriverStation.getGamepad(0).getPort() == 0