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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 == {}

40
commandsv3/src/generate/main/java/commandhid.java.jinja
View File

@@ -19,8 +19,9 @@ 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. Commands bound to buttons on the controller will be
@@ -29,8 +30,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -41,19 +41,27 @@ 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(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new {{ ConsoleName }}Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
@@ -65,7 +73,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* @see #{{ button.name }}(EventLoop)
*/
public Trigger {{ button.name }}() {
return {{ button.name }}(getScheduler().getDefaultEventLoop());
return {{ button.name }}(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -76,7 +84,7 @@ 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 -%}
@@ -92,7 +100,7 @@ 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);
}
/**
@@ -107,7 +115,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
* Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
*/
public Trigger {{ trigger.name }}(double threshold) {
return {{ trigger.name }}(threshold, getScheduler().getDefaultEventLoop());
return {{ trigger.name }}(threshold, m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -131,7 +139,7 @@ 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 %}
@@ -142,7 +150,7 @@ 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 -%}
}

96
commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS4Controller.java generated
View File

@@ -17,8 +17,9 @@ 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. Commands bound to buttons on the controller will be
@@ -27,8 +28,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -39,20 +39,28 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsPS4Controller(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new NiDsPS4Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
*
@@ -63,7 +71,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #square(EventLoop)
*/
public Trigger square() {
return square(getScheduler().getDefaultEventLoop());
return square(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -74,7 +82,7 @@ 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);
}
/**
@@ -87,7 +95,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #cross(EventLoop)
*/
public Trigger cross() {
return cross(getScheduler().getDefaultEventLoop());
return cross(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -98,7 +106,7 @@ 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);
}
/**
@@ -111,7 +119,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #circle(EventLoop)
*/
public Trigger circle() {
return circle(getScheduler().getDefaultEventLoop());
return circle(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -122,7 +130,7 @@ 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);
}
/**
@@ -135,7 +143,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #triangle(EventLoop)
*/
public Trigger triangle() {
return triangle(getScheduler().getDefaultEventLoop());
return triangle(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -146,7 +154,7 @@ 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);
}
/**
@@ -159,7 +167,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #L1(EventLoop)
*/
public Trigger L1() {
return L1(getScheduler().getDefaultEventLoop());
return L1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -170,7 +178,7 @@ 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);
}
/**
@@ -183,7 +191,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #R1(EventLoop)
*/
public Trigger R1() {
return R1(getScheduler().getDefaultEventLoop());
return R1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -194,7 +202,7 @@ 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);
}
/**
@@ -207,7 +215,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #L2(EventLoop)
*/
public Trigger L2() {
return L2(getScheduler().getDefaultEventLoop());
return L2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -218,7 +226,7 @@ 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);
}
/**
@@ -231,7 +239,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #R2(EventLoop)
*/
public Trigger R2() {
return R2(getScheduler().getDefaultEventLoop());
return R2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -242,7 +250,7 @@ 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);
}
/**
@@ -255,7 +263,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #share(EventLoop)
*/
public Trigger share() {
return share(getScheduler().getDefaultEventLoop());
return share(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -266,7 +274,7 @@ 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);
}
/**
@@ -279,7 +287,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #options(EventLoop)
*/
public Trigger options() {
return options(getScheduler().getDefaultEventLoop());
return options(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -290,7 +298,7 @@ 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);
}
/**
@@ -303,7 +311,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #L3(EventLoop)
*/
public Trigger L3() {
return L3(getScheduler().getDefaultEventLoop());
return L3(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -314,7 +322,7 @@ 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);
}
/**
@@ -327,7 +335,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #R3(EventLoop)
*/
public Trigger R3() {
return R3(getScheduler().getDefaultEventLoop());
return R3(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -338,7 +346,7 @@ 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);
}
/**
@@ -351,7 +359,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #PS(EventLoop)
*/
public Trigger PS() {
return PS(getScheduler().getDefaultEventLoop());
return PS(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -362,7 +370,7 @@ 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);
}
/**
@@ -375,7 +383,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @see #touchpad(EventLoop)
*/
public Trigger touchpad() {
return touchpad(getScheduler().getDefaultEventLoop());
return touchpad(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -386,7 +394,7 @@ 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);
}
/**
@@ -395,7 +403,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -404,7 +412,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -413,7 +421,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -422,7 +430,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -432,7 +440,7 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getL2Axis() {
return m_hid.getL2Axis();
return m_controller.getL2Axis();
}
/**
@@ -442,6 +450,6 @@ public class CommandNiDsPS4Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getR2Axis() {
return m_hid.getR2Axis();
return m_controller.getR2Axis();
}
}

96
commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsPS5Controller.java generated
View File

@@ -17,8 +17,9 @@ 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. Commands bound to buttons on the controller will be
@@ -27,8 +28,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -39,20 +39,28 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsPS5Controller(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new NiDsPS5Controller(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
*
@@ -63,7 +71,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #square(EventLoop)
*/
public Trigger square() {
return square(getScheduler().getDefaultEventLoop());
return square(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -74,7 +82,7 @@ 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);
}
/**
@@ -87,7 +95,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #cross(EventLoop)
*/
public Trigger cross() {
return cross(getScheduler().getDefaultEventLoop());
return cross(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -98,7 +106,7 @@ 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);
}
/**
@@ -111,7 +119,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #circle(EventLoop)
*/
public Trigger circle() {
return circle(getScheduler().getDefaultEventLoop());
return circle(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -122,7 +130,7 @@ 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);
}
/**
@@ -135,7 +143,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #triangle(EventLoop)
*/
public Trigger triangle() {
return triangle(getScheduler().getDefaultEventLoop());
return triangle(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -146,7 +154,7 @@ 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);
}
/**
@@ -159,7 +167,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #L1(EventLoop)
*/
public Trigger L1() {
return L1(getScheduler().getDefaultEventLoop());
return L1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -170,7 +178,7 @@ 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);
}
/**
@@ -183,7 +191,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #R1(EventLoop)
*/
public Trigger R1() {
return R1(getScheduler().getDefaultEventLoop());
return R1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -194,7 +202,7 @@ 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);
}
/**
@@ -207,7 +215,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #L2(EventLoop)
*/
public Trigger L2() {
return L2(getScheduler().getDefaultEventLoop());
return L2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -218,7 +226,7 @@ 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);
}
/**
@@ -231,7 +239,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #R2(EventLoop)
*/
public Trigger R2() {
return R2(getScheduler().getDefaultEventLoop());
return R2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -242,7 +250,7 @@ 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);
}
/**
@@ -255,7 +263,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #create(EventLoop)
*/
public Trigger create() {
return create(getScheduler().getDefaultEventLoop());
return create(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -266,7 +274,7 @@ 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);
}
/**
@@ -279,7 +287,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #options(EventLoop)
*/
public Trigger options() {
return options(getScheduler().getDefaultEventLoop());
return options(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -290,7 +298,7 @@ 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);
}
/**
@@ -303,7 +311,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #L3(EventLoop)
*/
public Trigger L3() {
return L3(getScheduler().getDefaultEventLoop());
return L3(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -314,7 +322,7 @@ 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);
}
/**
@@ -327,7 +335,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #R3(EventLoop)
*/
public Trigger R3() {
return R3(getScheduler().getDefaultEventLoop());
return R3(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -338,7 +346,7 @@ 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);
}
/**
@@ -351,7 +359,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #PS(EventLoop)
*/
public Trigger PS() {
return PS(getScheduler().getDefaultEventLoop());
return PS(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -362,7 +370,7 @@ 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);
}
/**
@@ -375,7 +383,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @see #touchpad(EventLoop)
*/
public Trigger touchpad() {
return touchpad(getScheduler().getDefaultEventLoop());
return touchpad(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -386,7 +394,7 @@ 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);
}
/**
@@ -395,7 +403,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -404,7 +412,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -413,7 +421,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -422,7 +430,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -432,7 +440,7 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getL2Axis() {
return m_hid.getL2Axis();
return m_controller.getL2Axis();
}
/**
@@ -442,6 +450,6 @@ public class CommandNiDsPS5Controller extends CommandGenericHID {
* @return The axis value.
*/
public double getR2Axis() {
return m_hid.getR2Axis();
return m_controller.getR2Axis();
}
}

96
commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsStadiaController.java generated
View File

@@ -17,8 +17,9 @@ 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. Commands bound to buttons on the controller will be
@@ -27,8 +28,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -39,20 +39,28 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsStadiaController(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new NiDsStadiaController(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
*
@@ -63,7 +71,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #a(EventLoop)
*/
public Trigger a() {
return a(getScheduler().getDefaultEventLoop());
return a(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -74,7 +82,7 @@ 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);
}
/**
@@ -87,7 +95,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #b(EventLoop)
*/
public Trigger b() {
return b(getScheduler().getDefaultEventLoop());
return b(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -98,7 +106,7 @@ 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);
}
/**
@@ -111,7 +119,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #x(EventLoop)
*/
public Trigger x() {
return x(getScheduler().getDefaultEventLoop());
return x(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -122,7 +130,7 @@ 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);
}
/**
@@ -135,7 +143,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #y(EventLoop)
*/
public Trigger y() {
return y(getScheduler().getDefaultEventLoop());
return y(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -146,7 +154,7 @@ 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);
}
/**
@@ -159,7 +167,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #leftBumper(EventLoop)
*/
public Trigger leftBumper() {
return leftBumper(getScheduler().getDefaultEventLoop());
return leftBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -170,7 +178,7 @@ 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);
}
/**
@@ -183,7 +191,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #rightBumper(EventLoop)
*/
public Trigger rightBumper() {
return rightBumper(getScheduler().getDefaultEventLoop());
return rightBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -194,7 +202,7 @@ 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);
}
/**
@@ -207,7 +215,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #leftStick(EventLoop)
*/
public Trigger leftStick() {
return leftStick(getScheduler().getDefaultEventLoop());
return leftStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -218,7 +226,7 @@ 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);
}
/**
@@ -231,7 +239,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #rightStick(EventLoop)
*/
public Trigger rightStick() {
return rightStick(getScheduler().getDefaultEventLoop());
return rightStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -242,7 +250,7 @@ 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);
}
/**
@@ -255,7 +263,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #ellipses(EventLoop)
*/
public Trigger ellipses() {
return ellipses(getScheduler().getDefaultEventLoop());
return ellipses(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -266,7 +274,7 @@ 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);
}
/**
@@ -279,7 +287,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #hamburger(EventLoop)
*/
public Trigger hamburger() {
return hamburger(getScheduler().getDefaultEventLoop());
return hamburger(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -290,7 +298,7 @@ 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);
}
/**
@@ -303,7 +311,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #stadia(EventLoop)
*/
public Trigger stadia() {
return stadia(getScheduler().getDefaultEventLoop());
return stadia(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -314,7 +322,7 @@ 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);
}
/**
@@ -327,7 +335,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #rightTrigger(EventLoop)
*/
public Trigger rightTrigger() {
return rightTrigger(getScheduler().getDefaultEventLoop());
return rightTrigger(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -338,7 +346,7 @@ 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);
}
/**
@@ -351,7 +359,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #leftTrigger(EventLoop)
*/
public Trigger leftTrigger() {
return leftTrigger(getScheduler().getDefaultEventLoop());
return leftTrigger(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -362,7 +370,7 @@ 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);
}
/**
@@ -375,7 +383,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #google(EventLoop)
*/
public Trigger google() {
return google(getScheduler().getDefaultEventLoop());
return google(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -386,7 +394,7 @@ 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);
}
/**
@@ -399,7 +407,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @see #frame(EventLoop)
*/
public Trigger frame() {
return frame(getScheduler().getDefaultEventLoop());
return frame(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -410,7 +418,7 @@ 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);
}
/**
@@ -419,7 +427,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -428,7 +436,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -437,7 +445,7 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -446,6 +454,6 @@ public class CommandNiDsStadiaController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
}

88
commandsv3/src/generated/main/java/org/wpilib/command3/button/CommandNiDsXboxController.java generated
View File

@@ -17,8 +17,9 @@ 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. Commands bound to buttons on the controller will be
@@ -27,8 +28,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -39,20 +39,28 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandNiDsXboxController(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new NiDsXboxController(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
*
@@ -63,7 +71,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #a(EventLoop)
*/
public Trigger a() {
return a(getScheduler().getDefaultEventLoop());
return a(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -74,7 +82,7 @@ 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);
}
/**
@@ -87,7 +95,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #b(EventLoop)
*/
public Trigger b() {
return b(getScheduler().getDefaultEventLoop());
return b(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -98,7 +106,7 @@ 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);
}
/**
@@ -111,7 +119,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #x(EventLoop)
*/
public Trigger x() {
return x(getScheduler().getDefaultEventLoop());
return x(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -122,7 +130,7 @@ 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);
}
/**
@@ -135,7 +143,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #y(EventLoop)
*/
public Trigger y() {
return y(getScheduler().getDefaultEventLoop());
return y(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -146,7 +154,7 @@ 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);
}
/**
@@ -159,7 +167,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #leftBumper(EventLoop)
*/
public Trigger leftBumper() {
return leftBumper(getScheduler().getDefaultEventLoop());
return leftBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -170,7 +178,7 @@ 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);
}
/**
@@ -183,7 +191,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #rightBumper(EventLoop)
*/
public Trigger rightBumper() {
return rightBumper(getScheduler().getDefaultEventLoop());
return rightBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -194,7 +202,7 @@ 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);
}
/**
@@ -207,7 +215,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #back(EventLoop)
*/
public Trigger back() {
return back(getScheduler().getDefaultEventLoop());
return back(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -218,7 +226,7 @@ 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);
}
/**
@@ -231,7 +239,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #start(EventLoop)
*/
public Trigger start() {
return start(getScheduler().getDefaultEventLoop());
return start(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -242,7 +250,7 @@ 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);
}
/**
@@ -255,7 +263,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #leftStick(EventLoop)
*/
public Trigger leftStick() {
return leftStick(getScheduler().getDefaultEventLoop());
return leftStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -266,7 +274,7 @@ 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);
}
/**
@@ -279,7 +287,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @see #rightStick(EventLoop)
*/
public Trigger rightStick() {
return rightStick(getScheduler().getDefaultEventLoop());
return rightStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -290,7 +298,7 @@ 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);
}
/**
@@ -304,7 +312,7 @@ 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);
}
/**
@@ -319,7 +327,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
*/
public Trigger leftTrigger(double threshold) {
return leftTrigger(threshold, getScheduler().getDefaultEventLoop());
return leftTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -346,7 +354,7 @@ 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);
}
/**
@@ -361,7 +369,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* Scheduler#getDefault default scheduler} if a scheduler was not explicitly provided.
*/
public Trigger rightTrigger(double threshold) {
return rightTrigger(threshold, getScheduler().getDefaultEventLoop());
return rightTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -383,7 +391,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_controller.getLeftX();
}
/**
@@ -392,7 +400,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_controller.getRightX();
}
/**
@@ -401,7 +409,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_controller.getLeftY();
}
/**
@@ -410,7 +418,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_controller.getRightY();
}
/**
@@ -420,7 +428,7 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return m_hid.getLeftTriggerAxis();
return m_controller.getLeftTriggerAxis();
}
/**
@@ -430,6 +438,6 @@ public class CommandNiDsXboxController extends CommandGenericHID {
* @return The axis value.
*/
public double getRightTriggerAxis() {
return m_hid.getRightTriggerAxis();
return m_controller.getRightTriggerAxis();
}
}

124
commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java
View File

@@ -6,6 +6,7 @@ package org.wpilib.command3.button;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Gamepad;
import org.wpilib.event.EventLoop;
@@ -15,8 +16,9 @@ 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.
@@ -24,8 +26,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -35,20 +36,51 @@ public class CommandGamepad extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandGamepad(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new Gamepad(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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
* Scheduler#getDefaultEventLoop() 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 a Trigger instance around the Face Down button's digital signal.
*
@@ -59,7 +91,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #faceDown(EventLoop)
*/
public Trigger faceDown() {
return faceDown(getScheduler().getDefaultEventLoop());
return faceDown(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -83,7 +115,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #faceRight(EventLoop)
*/
public Trigger faceRight() {
return faceRight(getScheduler().getDefaultEventLoop());
return faceRight(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -107,7 +139,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #faceLeft(EventLoop)
*/
public Trigger faceLeft() {
return faceLeft(getScheduler().getDefaultEventLoop());
return faceLeft(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -131,7 +163,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #faceUp(EventLoop)
*/
public Trigger faceUp() {
return faceUp(getScheduler().getDefaultEventLoop());
return faceUp(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -155,7 +187,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #back(EventLoop)
*/
public Trigger back() {
return back(getScheduler().getDefaultEventLoop());
return back(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -179,7 +211,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #guide(EventLoop)
*/
public Trigger guide() {
return guide(getScheduler().getDefaultEventLoop());
return guide(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -203,7 +235,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #start(EventLoop)
*/
public Trigger start() {
return start(getScheduler().getDefaultEventLoop());
return start(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -227,7 +259,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #leftStick(EventLoop)
*/
public Trigger leftStick() {
return leftStick(getScheduler().getDefaultEventLoop());
return leftStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -251,7 +283,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #rightStick(EventLoop)
*/
public Trigger rightStick() {
return rightStick(getScheduler().getDefaultEventLoop());
return rightStick(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -275,7 +307,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #leftBumper(EventLoop)
*/
public Trigger leftBumper() {
return leftBumper(getScheduler().getDefaultEventLoop());
return leftBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -299,7 +331,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #rightBumper(EventLoop)
*/
public Trigger rightBumper() {
return rightBumper(getScheduler().getDefaultEventLoop());
return rightBumper(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -323,7 +355,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #dpadUp(EventLoop)
*/
public Trigger dpadUp() {
return dpadUp(getScheduler().getDefaultEventLoop());
return dpadUp(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -347,7 +379,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #dpadDown(EventLoop)
*/
public Trigger dpadDown() {
return dpadDown(getScheduler().getDefaultEventLoop());
return dpadDown(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -371,7 +403,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #dpadLeft(EventLoop)
*/
public Trigger dpadLeft() {
return dpadLeft(getScheduler().getDefaultEventLoop());
return dpadLeft(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -395,7 +427,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #dpadRight(EventLoop)
*/
public Trigger dpadRight() {
return dpadRight(getScheduler().getDefaultEventLoop());
return dpadRight(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -419,7 +451,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc1(EventLoop)
*/
public Trigger misc1() {
return misc1(getScheduler().getDefaultEventLoop());
return misc1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -443,7 +475,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #rightPaddle1(EventLoop)
*/
public Trigger rightPaddle1() {
return rightPaddle1(getScheduler().getDefaultEventLoop());
return rightPaddle1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -467,7 +499,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #leftPaddle1(EventLoop)
*/
public Trigger leftPaddle1() {
return leftPaddle1(getScheduler().getDefaultEventLoop());
return leftPaddle1(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -491,7 +523,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #rightPaddle2(EventLoop)
*/
public Trigger rightPaddle2() {
return rightPaddle2(getScheduler().getDefaultEventLoop());
return rightPaddle2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -515,7 +547,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #leftPaddle2(EventLoop)
*/
public Trigger leftPaddle2() {
return leftPaddle2(getScheduler().getDefaultEventLoop());
return leftPaddle2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -539,7 +571,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #touchpad(EventLoop)
*/
public Trigger touchpad() {
return touchpad(getScheduler().getDefaultEventLoop());
return touchpad(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -563,7 +595,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc2(EventLoop)
*/
public Trigger misc2() {
return misc2(getScheduler().getDefaultEventLoop());
return misc2(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -587,7 +619,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc3(EventLoop)
*/
public Trigger misc3() {
return misc3(getScheduler().getDefaultEventLoop());
return misc3(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -611,7 +643,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc4(EventLoop)
*/
public Trigger misc4() {
return misc4(getScheduler().getDefaultEventLoop());
return misc4(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -635,7 +667,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc5(EventLoop)
*/
public Trigger misc5() {
return misc5(getScheduler().getDefaultEventLoop());
return misc5(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -659,7 +691,7 @@ public class CommandGamepad extends CommandGenericHID {
* @see #misc6(EventLoop)
*/
public Trigger misc6() {
return misc6(getScheduler().getDefaultEventLoop());
return misc6(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -684,7 +716,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold, attached to the given event loop
*/
public Trigger leftTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(Gamepad.Axis.LEFT_TRIGGER.value, threshold, loop);
return m_hid.axisGreaterThan(Gamepad.Axis.LEFT_TRIGGER.value, threshold, loop);
}
/**
@@ -698,7 +730,7 @@ public class CommandGamepad extends CommandGenericHID {
* loop}.
*/
public Trigger leftTrigger(double threshold) {
return leftTrigger(threshold, getScheduler().getDefaultEventLoop());
return leftTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -725,7 +757,7 @@ public class CommandGamepad extends CommandGenericHID {
* threshold, attached to the given event loop
*/
public Trigger rightTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(Gamepad.Axis.RIGHT_TRIGGER.value, threshold, loop);
return m_hid.axisGreaterThan(Gamepad.Axis.RIGHT_TRIGGER.value, threshold, loop);
}
/**
@@ -739,7 +771,7 @@ public class CommandGamepad extends CommandGenericHID {
* loop}.
*/
public Trigger rightTrigger(double threshold) {
return rightTrigger(threshold, getScheduler().getDefaultEventLoop());
return rightTrigger(threshold, m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -761,7 +793,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftX() {
return m_hid.getLeftX();
return m_gamepad.getLeftX();
}
/**
@@ -770,7 +802,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftY() {
return m_hid.getLeftY();
return m_gamepad.getLeftY();
}
/**
@@ -779,7 +811,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightX() {
return m_hid.getRightX();
return m_gamepad.getRightX();
}
/**
@@ -788,7 +820,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightY() {
return m_hid.getRightY();
return m_gamepad.getRightY();
}
/**
@@ -798,7 +830,7 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return m_hid.getLeftTriggerAxis();
return m_gamepad.getLeftTriggerAxis();
}
/**
@@ -808,6 +840,6 @@ public class CommandGamepad extends CommandGenericHID {
* @return The axis value.
*/
public double getRightTriggerAxis() {
return m_hid.getRightTriggerAxis();
return m_gamepad.getRightTriggerAxis();
}
}

72
commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java
View File

@@ -5,11 +5,16 @@
package org.wpilib.command3.button;
import java.util.HashMap;
import java.util.IdentityHashMap;
import java.util.Map;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
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;
@@ -18,7 +23,10 @@ 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 Map<Scheduler, CommandGenericHID[]> m_hids = new IdentityHashMap<>();
private final Scheduler m_scheduler;
private final GenericHID m_hid;
private final Map<EventLoop, Map<Integer, Trigger>> m_buttonCache = new HashMap<>();
@@ -38,7 +46,65 @@ public class CommandGenericHID {
*/
public CommandGenericHID(Scheduler scheduler, int port) {
m_scheduler = scheduler;
m_hid = new GenericHID(port);
m_hid = DriverStation.getGenericHID(port);
}
/**
* Construct an instance of a device with a GenericHID object.
*
* @param scheduler The scheduler that should execute the triggered commands.
* @param hid The GenericHID object to use for this command HID.
*/
public CommandGenericHID(Scheduler scheduler, GenericHID hid) {
m_scheduler = scheduler;
m_hid = hid;
}
/**
* 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) {
this(Scheduler.getDefault(), hid);
}
/**
* Gets the CommandGenericHID object for the given scheduler and port. CommandGenericHID objects
* are cached, so this will always return the same object for the same scheduler and port.
*
* @param scheduler The scheduler that should execute the triggered commands.
* @param port The port index on the Driver Station that the device is plugged into.
* @return The CommandGenericHID object for the given scheduler and port.
*/
public static CommandGenericHID getCommandGenericHID(Scheduler scheduler, int port) {
DriverStation.getGenericHID(port);
m_hidsLock.lock();
try {
CommandGenericHID[] hids =
m_hids.computeIfAbsent(
scheduler, k -> new CommandGenericHID[DriverStationBackend.JOYSTICK_PORTS]);
CommandGenericHID toRet = hids[port];
if (toRet == null) {
toRet = new CommandGenericHID(scheduler, port);
hids[port] = toRet;
}
return toRet;
} finally {
m_hidsLock.unlock();
}
}
/**
* Gets the CommandGenericHID object for the given port using the default scheduler.
* 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) {
return getCommandGenericHID(Scheduler.getDefault(), port);
}
/**
@@ -337,7 +403,7 @@ public class CommandGenericHID {
*
* @return the scheduler that should execute the triggered commands
*/
protected final Scheduler getScheduler() {
Scheduler getScheduler() {
return m_scheduler;
}
}

73
commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java
View File

@@ -6,6 +6,7 @@ package org.wpilib.command3.button;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Joystick;
import org.wpilib.event.EventLoop;
@@ -14,8 +15,9 @@ 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.
@@ -23,8 +25,7 @@ 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);
this(Scheduler.getDefault(), port);
}
/**
@@ -34,20 +35,28 @@ public class CommandJoystick extends CommandGenericHID {
* @param port The port index on the Driver Station that the controller is plugged into.
*/
public CommandJoystick(Scheduler scheduler, int port) {
super(scheduler, port);
m_hid = new Joystick(port);
m_hid = CommandGenericHID.getCommandGenericHID(scheduler, 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.
*
@@ -56,7 +65,7 @@ public class CommandJoystick extends CommandGenericHID {
* @see #trigger(EventLoop)
*/
public Trigger trigger() {
return trigger(getScheduler().getDefaultEventLoop());
return trigger(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -67,7 +76,7 @@ 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);
}
/**
@@ -78,7 +87,7 @@ public class CommandJoystick extends CommandGenericHID {
* @see #top(EventLoop)
*/
public Trigger top() {
return top(getScheduler().getDefaultEventLoop());
return top(m_hid.getScheduler().getDefaultEventLoop());
}
/**
@@ -89,7 +98,7 @@ 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);
}
/**
@@ -98,7 +107,7 @@ 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);
}
/**
@@ -107,7 +116,7 @@ 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);
}
/**
@@ -116,7 +125,7 @@ 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);
}
/**
@@ -125,7 +134,7 @@ 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);
}
/**
@@ -134,7 +143,7 @@ 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);
}
/**
@@ -143,7 +152,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getXChannel() {
return m_hid.getXChannel();
return m_joystick.getXChannel();
}
/**
@@ -152,7 +161,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getYChannel() {
return m_hid.getYChannel();
return m_joystick.getYChannel();
}
/**
@@ -161,7 +170,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getZChannel() {
return m_hid.getZChannel();
return m_joystick.getZChannel();
}
/**
@@ -170,7 +179,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getTwistChannel() {
return m_hid.getTwistChannel();
return m_joystick.getTwistChannel();
}
/**
@@ -179,7 +188,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The channel for the axis.
*/
public int getThrottleChannel() {
return m_hid.getThrottleChannel();
return m_joystick.getThrottleChannel();
}
/**
@@ -191,7 +200,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the x position
*/
public double getX() {
return m_hid.getX();
return m_joystick.getX();
}
/**
@@ -203,7 +212,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the y position
*/
public double getY() {
return m_hid.getY();
return m_joystick.getY();
}
/**
@@ -212,7 +221,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return the z position
*/
public double getZ() {
return m_hid.getZ();
return m_joystick.getZ();
}
/**
@@ -222,7 +231,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The Twist value of the joystick.
*/
public double getTwist() {
return m_hid.getTwist();
return m_joystick.getTwist();
}
/**
@@ -232,7 +241,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The Throttle value of the joystick.
*/
public double getThrottle() {
return m_hid.getThrottle();
return m_joystick.getThrottle();
}
/**
@@ -242,7 +251,7 @@ public class CommandJoystick extends CommandGenericHID {
* @return The magnitude of the direction vector
*/
public double getMagnitude() {
return m_hid.getMagnitude();
return m_joystick.getMagnitude();
}
/**
@@ -260,7 +269,7 @@ 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();
}
/**
@@ -270,6 +279,6 @@ 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
commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java
View File

@@ -8,6 +8,7 @@ import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.HIDDevice;
/** A {@link Trigger} that gets its state from a {@link GenericHID}. */
public class JoystickButton extends Trigger {
@@ -21,4 +22,14 @@ 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
commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java
View File

@@ -8,6 +8,7 @@ import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.driverstation.HIDDevice;
import org.wpilib.driverstation.POVDirection;
/** A {@link Trigger} that gets its state from a POV on a {@link GenericHID}. */
@@ -33,4 +34,25 @@ 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);
}
}

10
wpilibc/robotpy_pybind_build_info.bzl generated
View File

@@ -211,6 +211,16 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::GenericHID", "wpi__GenericHID.hpp"),
],
),
struct(
class_name = "HIDDevice",
yml_file = "semiwrap/HIDDevice.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/HIDDevice.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::HIDDevice", "wpi__HIDDevice.hpp"),
],
),
struct(
class_name = "Joystick",
yml_file = "semiwrap/Joystick.yml",

70
wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja
View File

@@ -8,28 +8,42 @@
{%- endmacro %}
#include "wpi/driverstation/{{ ConsoleName }}Controller.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/event/BooleanEvent.hpp"
using namespace wpi;
{{ ConsoleName }}Controller::{{ ConsoleName }}Controller(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "{{ ConsoleName }}Controller");
{{ ConsoleName }}Controller::{{ ConsoleName }}Controller(int port)
: {{ ConsoleName }}Controller{DriverStation::GetGenericHID(port)} {}
{{ ConsoleName }}Controller::{{ ConsoleName }}Controller(GenericHID& hid)
: m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "{{ ConsoleName }}Controller");
}
GenericHID& {{ ConsoleName }}Controller::GetHID() {
return *m_hid;
}
const GenericHID& {{ ConsoleName }}Controller::GetHID() const {
return *m_hid;
}
{% for stick in sticks %}
double {{ ConsoleName }}Controller::Get{{ stick.NameParts|map("capitalize")|join }}() const {
return GetRawAxis(Axis::k{{ stick.NameParts|map("capitalize")|join }});
return m_hid->GetRawAxis(Axis::k{{ stick.NameParts|map("capitalize")|join }});
}
{% endfor -%}
{% for trigger in triggers %}
double {{ ConsoleName }}Controller::Get{{ capitalize_first(trigger.name) }}Axis() const {
return GetRawAxis(Axis::k{{ capitalize_first(trigger.name) }});
return m_hid->GetRawAxis(Axis::k{{ capitalize_first(trigger.name) }});
}
{% if trigger.UseThresholdMethods %}
BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold, EventLoop* loop) const {
return BooleanEvent(loop, [this, threshold] { return this->Get{{ capitalize_first(trigger.name) }}Axis() > threshold; });
BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(double threshold,
EventLoop* loop) const {
return BooleanEvent(
loop, [this, threshold] { return this->Get{{ capitalize_first(trigger.name) }}Axis() > threshold; });
}
BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(EventLoop* loop) const {
@@ -39,31 +53,59 @@ BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(trigger.name) }}(E
{% endfor -%}
{% for button in buttons %}
bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}Button() const {
return GetRawButton(Button::k{{ capitalize_first(button.name) }});
return m_hid->GetRawButton(Button::k{{ capitalize_first(button.name) }});
}
bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonPressed() {
return GetRawButtonPressed(Button::k{{ capitalize_first(button.name) }});
return m_hid->GetRawButtonPressed(Button::k{{ capitalize_first(button.name) }});
}
bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonReleased() {
return GetRawButtonReleased(Button::k{{ capitalize_first(button.name) }});
return m_hid->GetRawButtonReleased(Button::k{{ capitalize_first(button.name) }});
}
BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->Get{{ capitalize_first(button.name) }}Button(); });
}
{% endfor %}
bool {{ ConsoleName }}Controller::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType {{ ConsoleName }}Controller::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs {{ ConsoleName }}Controller::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string {{ ConsoleName }}Controller::GetName() const {
return m_hid->GetName();
}
int {{ ConsoleName }}Controller::GetPort() const {
return m_hid->GetPort();
}
void {{ ConsoleName }}Controller::SetRumble(GenericHID::RumbleType type,
double value) {
m_hid->SetRumble(type, value);
}
void {{ ConsoleName }}Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "{{ ConsoleName }}");
{%- for trigger in triggers %}
builder.AddDoubleProperty("{{ capitalize_first(trigger.name) }} Axis", [this] { return Get{{ capitalize_first(trigger.name) }}Axis(); }, nullptr);
builder.AddDoubleProperty("{{ capitalize_first(trigger.name) }} Axis",
[this] { return Get{{ capitalize_first(trigger.name) }}Axis(); }, nullptr);
{%- endfor -%}
{% for stick in sticks %}
builder.AddDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", [this] { return Get{{ stick.NameParts|map("capitalize")|join }}(); }, nullptr);
builder.AddDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}",
[this] { return Get{{ stick.NameParts|map("capitalize")|join }}(); }, nullptr);
{%- endfor -%}
{% for button in buttons %}
builder.AddBooleanProperty("{{ capitalize_first(button.name) }}", [this] { return Get{{ capitalize_first(button.name) }}Button(); }, nullptr);
builder.AddBooleanProperty("{{ capitalize_first(button.name) }}",
[this] { return Get{{ capitalize_first(button.name) }}Button(); }, nullptr);
{%- endfor %}
}

2
wpilibc/src/generate/main/native/cpp/simulation/hidsim.cpp.jinja
View File

@@ -14,7 +14,7 @@ using namespace wpi;
using namespace wpi::sim;
{{ ConsoleName }}ControllerSim::{{ ConsoleName }}ControllerSim(const {{ ConsoleName }}Controller& joystick)
: GenericHIDSim{joystick} {
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex({{ sticks|length + triggers|length }});
SetButtonsMaximumIndex({{ buttons|length }});
SetPOVsMaximumIndex(1);

79
wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
View File

@@ -8,10 +8,12 @@
{%- endmacro %}
#pragma once
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
@@ -27,7 +29,8 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class {{ ConsoleName }}Controller : public GenericHID,
class {{ ConsoleName }}Controller
: public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<{{ ConsoleName }}Controller> {
public:
@@ -41,10 +44,31 @@ class {{ ConsoleName }}Controller : public GenericHID,
*/
explicit {{ ConsoleName }}Controller(int port);
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
explicit {{ ConsoleName }}Controller(GenericHID& hid);
~{{ ConsoleName }}Controller() override = default;
{{ ConsoleName }}Controller({{ ConsoleName }}Controller&&) = default;
{{ ConsoleName }}Controller& operator=({{ ConsoleName }}Controller&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
{% for stick in sticks %}
/**
* Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
@@ -137,7 +161,56 @@ class {{ ConsoleName }}Controller : public GenericHID,
{%- endfor %}
};
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
bool IsConnected() const;
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
std::string GetName() const;
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
int GetPort() const;
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
GenericHID* m_hid;
};
} // namespace wpi

201
wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS4Controller.cpp generated
View File

@@ -6,51 +6,63 @@
#include "wpi/driverstation/NiDsPS4Controller.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/event/BooleanEvent.hpp"
using namespace wpi;
NiDsPS4Controller::NiDsPS4Controller(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "NiDsPS4Controller");
NiDsPS4Controller::NiDsPS4Controller(int port)
: NiDsPS4Controller{DriverStation::GetGenericHID(port)} {}
NiDsPS4Controller::NiDsPS4Controller(GenericHID& hid)
: m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "NiDsPS4Controller");
}
GenericHID& NiDsPS4Controller::GetHID() {
return *m_hid;
}
const GenericHID& NiDsPS4Controller::GetHID() const {
return *m_hid;
}
double NiDsPS4Controller::GetLeftX() const {
return GetRawAxis(Axis::kLeftX);
return m_hid->GetRawAxis(Axis::kLeftX);
}
double NiDsPS4Controller::GetLeftY() const {
return GetRawAxis(Axis::kLeftY);
return m_hid->GetRawAxis(Axis::kLeftY);
}
double NiDsPS4Controller::GetRightX() const {
return GetRawAxis(Axis::kRightX);
return m_hid->GetRawAxis(Axis::kRightX);
}
double NiDsPS4Controller::GetRightY() const {
return GetRawAxis(Axis::kRightY);
return m_hid->GetRawAxis(Axis::kRightY);
}
double NiDsPS4Controller::GetL2Axis() const {
return GetRawAxis(Axis::kL2);
return m_hid->GetRawAxis(Axis::kL2);
}
double NiDsPS4Controller::GetR2Axis() const {
return GetRawAxis(Axis::kR2);
return m_hid->GetRawAxis(Axis::kR2);
}
bool NiDsPS4Controller::GetSquareButton() const {
return GetRawButton(Button::kSquare);
return m_hid->GetRawButton(Button::kSquare);
}
bool NiDsPS4Controller::GetSquareButtonPressed() {
return GetRawButtonPressed(Button::kSquare);
return m_hid->GetRawButtonPressed(Button::kSquare);
}
bool NiDsPS4Controller::GetSquareButtonReleased() {
return GetRawButtonReleased(Button::kSquare);
return m_hid->GetRawButtonReleased(Button::kSquare);
}
BooleanEvent NiDsPS4Controller::Square(EventLoop* loop) const {
@@ -58,15 +70,15 @@ BooleanEvent NiDsPS4Controller::Square(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetCrossButton() const {
return GetRawButton(Button::kCross);
return m_hid->GetRawButton(Button::kCross);
}
bool NiDsPS4Controller::GetCrossButtonPressed() {
return GetRawButtonPressed(Button::kCross);
return m_hid->GetRawButtonPressed(Button::kCross);
}
bool NiDsPS4Controller::GetCrossButtonReleased() {
return GetRawButtonReleased(Button::kCross);
return m_hid->GetRawButtonReleased(Button::kCross);
}
BooleanEvent NiDsPS4Controller::Cross(EventLoop* loop) const {
@@ -74,15 +86,15 @@ BooleanEvent NiDsPS4Controller::Cross(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetCircleButton() const {
return GetRawButton(Button::kCircle);
return m_hid->GetRawButton(Button::kCircle);
}
bool NiDsPS4Controller::GetCircleButtonPressed() {
return GetRawButtonPressed(Button::kCircle);
return m_hid->GetRawButtonPressed(Button::kCircle);
}
bool NiDsPS4Controller::GetCircleButtonReleased() {
return GetRawButtonReleased(Button::kCircle);
return m_hid->GetRawButtonReleased(Button::kCircle);
}
BooleanEvent NiDsPS4Controller::Circle(EventLoop* loop) const {
@@ -90,15 +102,15 @@ BooleanEvent NiDsPS4Controller::Circle(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetTriangleButton() const {
return GetRawButton(Button::kTriangle);
return m_hid->GetRawButton(Button::kTriangle);
}
bool NiDsPS4Controller::GetTriangleButtonPressed() {
return GetRawButtonPressed(Button::kTriangle);
return m_hid->GetRawButtonPressed(Button::kTriangle);
}
bool NiDsPS4Controller::GetTriangleButtonReleased() {
return GetRawButtonReleased(Button::kTriangle);
return m_hid->GetRawButtonReleased(Button::kTriangle);
}
BooleanEvent NiDsPS4Controller::Triangle(EventLoop* loop) const {
@@ -106,15 +118,15 @@ BooleanEvent NiDsPS4Controller::Triangle(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetL1Button() const {
return GetRawButton(Button::kL1);
return m_hid->GetRawButton(Button::kL1);
}
bool NiDsPS4Controller::GetL1ButtonPressed() {
return GetRawButtonPressed(Button::kL1);
return m_hid->GetRawButtonPressed(Button::kL1);
}
bool NiDsPS4Controller::GetL1ButtonReleased() {
return GetRawButtonReleased(Button::kL1);
return m_hid->GetRawButtonReleased(Button::kL1);
}
BooleanEvent NiDsPS4Controller::L1(EventLoop* loop) const {
@@ -122,15 +134,15 @@ BooleanEvent NiDsPS4Controller::L1(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetR1Button() const {
return GetRawButton(Button::kR1);
return m_hid->GetRawButton(Button::kR1);
}
bool NiDsPS4Controller::GetR1ButtonPressed() {
return GetRawButtonPressed(Button::kR1);
return m_hid->GetRawButtonPressed(Button::kR1);
}
bool NiDsPS4Controller::GetR1ButtonReleased() {
return GetRawButtonReleased(Button::kR1);
return m_hid->GetRawButtonReleased(Button::kR1);
}
BooleanEvent NiDsPS4Controller::R1(EventLoop* loop) const {
@@ -138,15 +150,15 @@ BooleanEvent NiDsPS4Controller::R1(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetL2Button() const {
return GetRawButton(Button::kL2);
return m_hid->GetRawButton(Button::kL2);
}
bool NiDsPS4Controller::GetL2ButtonPressed() {
return GetRawButtonPressed(Button::kL2);
return m_hid->GetRawButtonPressed(Button::kL2);
}
bool NiDsPS4Controller::GetL2ButtonReleased() {
return GetRawButtonReleased(Button::kL2);
return m_hid->GetRawButtonReleased(Button::kL2);
}
BooleanEvent NiDsPS4Controller::L2(EventLoop* loop) const {
@@ -154,15 +166,15 @@ BooleanEvent NiDsPS4Controller::L2(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetR2Button() const {
return GetRawButton(Button::kR2);
return m_hid->GetRawButton(Button::kR2);
}
bool NiDsPS4Controller::GetR2ButtonPressed() {
return GetRawButtonPressed(Button::kR2);
return m_hid->GetRawButtonPressed(Button::kR2);
}
bool NiDsPS4Controller::GetR2ButtonReleased() {
return GetRawButtonReleased(Button::kR2);
return m_hid->GetRawButtonReleased(Button::kR2);
}
BooleanEvent NiDsPS4Controller::R2(EventLoop* loop) const {
@@ -170,15 +182,15 @@ BooleanEvent NiDsPS4Controller::R2(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetShareButton() const {
return GetRawButton(Button::kShare);
return m_hid->GetRawButton(Button::kShare);
}
bool NiDsPS4Controller::GetShareButtonPressed() {
return GetRawButtonPressed(Button::kShare);
return m_hid->GetRawButtonPressed(Button::kShare);
}
bool NiDsPS4Controller::GetShareButtonReleased() {
return GetRawButtonReleased(Button::kShare);
return m_hid->GetRawButtonReleased(Button::kShare);
}
BooleanEvent NiDsPS4Controller::Share(EventLoop* loop) const {
@@ -186,15 +198,15 @@ BooleanEvent NiDsPS4Controller::Share(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetOptionsButton() const {
return GetRawButton(Button::kOptions);
return m_hid->GetRawButton(Button::kOptions);
}
bool NiDsPS4Controller::GetOptionsButtonPressed() {
return GetRawButtonPressed(Button::kOptions);
return m_hid->GetRawButtonPressed(Button::kOptions);
}
bool NiDsPS4Controller::GetOptionsButtonReleased() {
return GetRawButtonReleased(Button::kOptions);
return m_hid->GetRawButtonReleased(Button::kOptions);
}
BooleanEvent NiDsPS4Controller::Options(EventLoop* loop) const {
@@ -202,15 +214,15 @@ BooleanEvent NiDsPS4Controller::Options(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetL3Button() const {
return GetRawButton(Button::kL3);
return m_hid->GetRawButton(Button::kL3);
}
bool NiDsPS4Controller::GetL3ButtonPressed() {
return GetRawButtonPressed(Button::kL3);
return m_hid->GetRawButtonPressed(Button::kL3);
}
bool NiDsPS4Controller::GetL3ButtonReleased() {
return GetRawButtonReleased(Button::kL3);
return m_hid->GetRawButtonReleased(Button::kL3);
}
BooleanEvent NiDsPS4Controller::L3(EventLoop* loop) const {
@@ -218,15 +230,15 @@ BooleanEvent NiDsPS4Controller::L3(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetR3Button() const {
return GetRawButton(Button::kR3);
return m_hid->GetRawButton(Button::kR3);
}
bool NiDsPS4Controller::GetR3ButtonPressed() {
return GetRawButtonPressed(Button::kR3);
return m_hid->GetRawButtonPressed(Button::kR3);
}
bool NiDsPS4Controller::GetR3ButtonReleased() {
return GetRawButtonReleased(Button::kR3);
return m_hid->GetRawButtonReleased(Button::kR3);
}
BooleanEvent NiDsPS4Controller::R3(EventLoop* loop) const {
@@ -234,15 +246,15 @@ BooleanEvent NiDsPS4Controller::R3(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetPSButton() const {
return GetRawButton(Button::kPS);
return m_hid->GetRawButton(Button::kPS);
}
bool NiDsPS4Controller::GetPSButtonPressed() {
return GetRawButtonPressed(Button::kPS);
return m_hid->GetRawButtonPressed(Button::kPS);
}
bool NiDsPS4Controller::GetPSButtonReleased() {
return GetRawButtonReleased(Button::kPS);
return m_hid->GetRawButtonReleased(Button::kPS);
}
BooleanEvent NiDsPS4Controller::PS(EventLoop* loop) const {
@@ -250,42 +262,87 @@ BooleanEvent NiDsPS4Controller::PS(EventLoop* loop) const {
}
bool NiDsPS4Controller::GetTouchpadButton() const {
return GetRawButton(Button::kTouchpad);
return m_hid->GetRawButton(Button::kTouchpad);
}
bool NiDsPS4Controller::GetTouchpadButtonPressed() {
return GetRawButtonPressed(Button::kTouchpad);
return m_hid->GetRawButtonPressed(Button::kTouchpad);
}
bool NiDsPS4Controller::GetTouchpadButtonReleased() {
return GetRawButtonReleased(Button::kTouchpad);
return m_hid->GetRawButtonReleased(Button::kTouchpad);
}
BooleanEvent NiDsPS4Controller::Touchpad(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
}
bool NiDsPS4Controller::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType NiDsPS4Controller::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs NiDsPS4Controller::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string NiDsPS4Controller::GetName() const {
return m_hid->GetName();
}
int NiDsPS4Controller::GetPort() const {
return m_hid->GetPort();
}
void NiDsPS4Controller::SetRumble(GenericHID::RumbleType type,
double value) {
m_hid->SetRumble(type, value);
}
void NiDsPS4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsPS4");
builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
builder.AddDoubleProperty("R2 Axis", [this] { return GetR2Axis(); }, nullptr);
builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
builder.AddBooleanProperty("L2", [this] { return GetL2Button(); }, nullptr);
builder.AddBooleanProperty("R2", [this] { return GetR2Button(); }, nullptr);
builder.AddBooleanProperty("Share", [this] { return GetShareButton(); }, nullptr);
builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
builder.AddDoubleProperty("L2 Axis",
[this] { return GetL2Axis(); }, nullptr);
builder.AddDoubleProperty("R2 Axis",
[this] { return GetR2Axis(); }, nullptr);
builder.AddDoubleProperty("LeftX",
[this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("LeftY",
[this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightX",
[this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("RightY",
[this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("Square",
[this] { return GetSquareButton(); }, nullptr);
builder.AddBooleanProperty("Cross",
[this] { return GetCrossButton(); }, nullptr);
builder.AddBooleanProperty("Circle",
[this] { return GetCircleButton(); }, nullptr);
builder.AddBooleanProperty("Triangle",
[this] { return GetTriangleButton(); }, nullptr);
builder.AddBooleanProperty("L1",
[this] { return GetL1Button(); }, nullptr);
builder.AddBooleanProperty("R1",
[this] { return GetR1Button(); }, nullptr);
builder.AddBooleanProperty("L2",
[this] { return GetL2Button(); }, nullptr);
builder.AddBooleanProperty("R2",
[this] { return GetR2Button(); }, nullptr);
builder.AddBooleanProperty("Share",
[this] { return GetShareButton(); }, nullptr);
builder.AddBooleanProperty("Options",
[this] { return GetOptionsButton(); }, nullptr);
builder.AddBooleanProperty("L3",
[this] { return GetL3Button(); }, nullptr);
builder.AddBooleanProperty("R3",
[this] { return GetR3Button(); }, nullptr);
builder.AddBooleanProperty("PS",
[this] { return GetPSButton(); }, nullptr);
builder.AddBooleanProperty("Touchpad",
[this] { return GetTouchpadButton(); }, nullptr);
}

201
wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS5Controller.cpp generated
View File

@@ -6,51 +6,63 @@
#include "wpi/driverstation/NiDsPS5Controller.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/event/BooleanEvent.hpp"
using namespace wpi;
NiDsPS5Controller::NiDsPS5Controller(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "NiDsPS5Controller");
NiDsPS5Controller::NiDsPS5Controller(int port)
: NiDsPS5Controller{DriverStation::GetGenericHID(port)} {}
NiDsPS5Controller::NiDsPS5Controller(GenericHID& hid)
: m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "NiDsPS5Controller");
}
GenericHID& NiDsPS5Controller::GetHID() {
return *m_hid;
}
const GenericHID& NiDsPS5Controller::GetHID() const {
return *m_hid;
}
double NiDsPS5Controller::GetLeftX() const {
return GetRawAxis(Axis::kLeftX);
return m_hid->GetRawAxis(Axis::kLeftX);
}
double NiDsPS5Controller::GetLeftY() const {
return GetRawAxis(Axis::kLeftY);
return m_hid->GetRawAxis(Axis::kLeftY);
}
double NiDsPS5Controller::GetRightX() const {
return GetRawAxis(Axis::kRightX);
return m_hid->GetRawAxis(Axis::kRightX);
}
double NiDsPS5Controller::GetRightY() const {
return GetRawAxis(Axis::kRightY);
return m_hid->GetRawAxis(Axis::kRightY);
}
double NiDsPS5Controller::GetL2Axis() const {
return GetRawAxis(Axis::kL2);
return m_hid->GetRawAxis(Axis::kL2);
}
double NiDsPS5Controller::GetR2Axis() const {
return GetRawAxis(Axis::kR2);
return m_hid->GetRawAxis(Axis::kR2);
}
bool NiDsPS5Controller::GetSquareButton() const {
return GetRawButton(Button::kSquare);
return m_hid->GetRawButton(Button::kSquare);
}
bool NiDsPS5Controller::GetSquareButtonPressed() {
return GetRawButtonPressed(Button::kSquare);
return m_hid->GetRawButtonPressed(Button::kSquare);
}
bool NiDsPS5Controller::GetSquareButtonReleased() {
return GetRawButtonReleased(Button::kSquare);
return m_hid->GetRawButtonReleased(Button::kSquare);
}
BooleanEvent NiDsPS5Controller::Square(EventLoop* loop) const {
@@ -58,15 +70,15 @@ BooleanEvent NiDsPS5Controller::Square(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetCrossButton() const {
return GetRawButton(Button::kCross);
return m_hid->GetRawButton(Button::kCross);
}
bool NiDsPS5Controller::GetCrossButtonPressed() {
return GetRawButtonPressed(Button::kCross);
return m_hid->GetRawButtonPressed(Button::kCross);
}
bool NiDsPS5Controller::GetCrossButtonReleased() {
return GetRawButtonReleased(Button::kCross);
return m_hid->GetRawButtonReleased(Button::kCross);
}
BooleanEvent NiDsPS5Controller::Cross(EventLoop* loop) const {
@@ -74,15 +86,15 @@ BooleanEvent NiDsPS5Controller::Cross(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetCircleButton() const {
return GetRawButton(Button::kCircle);
return m_hid->GetRawButton(Button::kCircle);
}
bool NiDsPS5Controller::GetCircleButtonPressed() {
return GetRawButtonPressed(Button::kCircle);
return m_hid->GetRawButtonPressed(Button::kCircle);
}
bool NiDsPS5Controller::GetCircleButtonReleased() {
return GetRawButtonReleased(Button::kCircle);
return m_hid->GetRawButtonReleased(Button::kCircle);
}
BooleanEvent NiDsPS5Controller::Circle(EventLoop* loop) const {
@@ -90,15 +102,15 @@ BooleanEvent NiDsPS5Controller::Circle(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetTriangleButton() const {
return GetRawButton(Button::kTriangle);
return m_hid->GetRawButton(Button::kTriangle);
}
bool NiDsPS5Controller::GetTriangleButtonPressed() {
return GetRawButtonPressed(Button::kTriangle);
return m_hid->GetRawButtonPressed(Button::kTriangle);
}
bool NiDsPS5Controller::GetTriangleButtonReleased() {
return GetRawButtonReleased(Button::kTriangle);
return m_hid->GetRawButtonReleased(Button::kTriangle);
}
BooleanEvent NiDsPS5Controller::Triangle(EventLoop* loop) const {
@@ -106,15 +118,15 @@ BooleanEvent NiDsPS5Controller::Triangle(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetL1Button() const {
return GetRawButton(Button::kL1);
return m_hid->GetRawButton(Button::kL1);
}
bool NiDsPS5Controller::GetL1ButtonPressed() {
return GetRawButtonPressed(Button::kL1);
return m_hid->GetRawButtonPressed(Button::kL1);
}
bool NiDsPS5Controller::GetL1ButtonReleased() {
return GetRawButtonReleased(Button::kL1);
return m_hid->GetRawButtonReleased(Button::kL1);
}
BooleanEvent NiDsPS5Controller::L1(EventLoop* loop) const {
@@ -122,15 +134,15 @@ BooleanEvent NiDsPS5Controller::L1(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetR1Button() const {
return GetRawButton(Button::kR1);
return m_hid->GetRawButton(Button::kR1);
}
bool NiDsPS5Controller::GetR1ButtonPressed() {
return GetRawButtonPressed(Button::kR1);
return m_hid->GetRawButtonPressed(Button::kR1);
}
bool NiDsPS5Controller::GetR1ButtonReleased() {
return GetRawButtonReleased(Button::kR1);
return m_hid->GetRawButtonReleased(Button::kR1);
}
BooleanEvent NiDsPS5Controller::R1(EventLoop* loop) const {
@@ -138,15 +150,15 @@ BooleanEvent NiDsPS5Controller::R1(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetL2Button() const {
return GetRawButton(Button::kL2);
return m_hid->GetRawButton(Button::kL2);
}
bool NiDsPS5Controller::GetL2ButtonPressed() {
return GetRawButtonPressed(Button::kL2);
return m_hid->GetRawButtonPressed(Button::kL2);
}
bool NiDsPS5Controller::GetL2ButtonReleased() {
return GetRawButtonReleased(Button::kL2);
return m_hid->GetRawButtonReleased(Button::kL2);
}
BooleanEvent NiDsPS5Controller::L2(EventLoop* loop) const {
@@ -154,15 +166,15 @@ BooleanEvent NiDsPS5Controller::L2(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetR2Button() const {
return GetRawButton(Button::kR2);
return m_hid->GetRawButton(Button::kR2);
}
bool NiDsPS5Controller::GetR2ButtonPressed() {
return GetRawButtonPressed(Button::kR2);
return m_hid->GetRawButtonPressed(Button::kR2);
}
bool NiDsPS5Controller::GetR2ButtonReleased() {
return GetRawButtonReleased(Button::kR2);
return m_hid->GetRawButtonReleased(Button::kR2);
}
BooleanEvent NiDsPS5Controller::R2(EventLoop* loop) const {
@@ -170,15 +182,15 @@ BooleanEvent NiDsPS5Controller::R2(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetCreateButton() const {
return GetRawButton(Button::kCreate);
return m_hid->GetRawButton(Button::kCreate);
}
bool NiDsPS5Controller::GetCreateButtonPressed() {
return GetRawButtonPressed(Button::kCreate);
return m_hid->GetRawButtonPressed(Button::kCreate);
}
bool NiDsPS5Controller::GetCreateButtonReleased() {
return GetRawButtonReleased(Button::kCreate);
return m_hid->GetRawButtonReleased(Button::kCreate);
}
BooleanEvent NiDsPS5Controller::Create(EventLoop* loop) const {
@@ -186,15 +198,15 @@ BooleanEvent NiDsPS5Controller::Create(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetOptionsButton() const {
return GetRawButton(Button::kOptions);
return m_hid->GetRawButton(Button::kOptions);
}
bool NiDsPS5Controller::GetOptionsButtonPressed() {
return GetRawButtonPressed(Button::kOptions);
return m_hid->GetRawButtonPressed(Button::kOptions);
}
bool NiDsPS5Controller::GetOptionsButtonReleased() {
return GetRawButtonReleased(Button::kOptions);
return m_hid->GetRawButtonReleased(Button::kOptions);
}
BooleanEvent NiDsPS5Controller::Options(EventLoop* loop) const {
@@ -202,15 +214,15 @@ BooleanEvent NiDsPS5Controller::Options(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetL3Button() const {
return GetRawButton(Button::kL3);
return m_hid->GetRawButton(Button::kL3);
}
bool NiDsPS5Controller::GetL3ButtonPressed() {
return GetRawButtonPressed(Button::kL3);
return m_hid->GetRawButtonPressed(Button::kL3);
}
bool NiDsPS5Controller::GetL3ButtonReleased() {
return GetRawButtonReleased(Button::kL3);
return m_hid->GetRawButtonReleased(Button::kL3);
}
BooleanEvent NiDsPS5Controller::L3(EventLoop* loop) const {
@@ -218,15 +230,15 @@ BooleanEvent NiDsPS5Controller::L3(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetR3Button() const {
return GetRawButton(Button::kR3);
return m_hid->GetRawButton(Button::kR3);
}
bool NiDsPS5Controller::GetR3ButtonPressed() {
return GetRawButtonPressed(Button::kR3);
return m_hid->GetRawButtonPressed(Button::kR3);
}
bool NiDsPS5Controller::GetR3ButtonReleased() {
return GetRawButtonReleased(Button::kR3);
return m_hid->GetRawButtonReleased(Button::kR3);
}
BooleanEvent NiDsPS5Controller::R3(EventLoop* loop) const {
@@ -234,15 +246,15 @@ BooleanEvent NiDsPS5Controller::R3(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetPSButton() const {
return GetRawButton(Button::kPS);
return m_hid->GetRawButton(Button::kPS);
}
bool NiDsPS5Controller::GetPSButtonPressed() {
return GetRawButtonPressed(Button::kPS);
return m_hid->GetRawButtonPressed(Button::kPS);
}
bool NiDsPS5Controller::GetPSButtonReleased() {
return GetRawButtonReleased(Button::kPS);
return m_hid->GetRawButtonReleased(Button::kPS);
}
BooleanEvent NiDsPS5Controller::PS(EventLoop* loop) const {
@@ -250,42 +262,87 @@ BooleanEvent NiDsPS5Controller::PS(EventLoop* loop) const {
}
bool NiDsPS5Controller::GetTouchpadButton() const {
return GetRawButton(Button::kTouchpad);
return m_hid->GetRawButton(Button::kTouchpad);
}
bool NiDsPS5Controller::GetTouchpadButtonPressed() {
return GetRawButtonPressed(Button::kTouchpad);
return m_hid->GetRawButtonPressed(Button::kTouchpad);
}
bool NiDsPS5Controller::GetTouchpadButtonReleased() {
return GetRawButtonReleased(Button::kTouchpad);
return m_hid->GetRawButtonReleased(Button::kTouchpad);
}
BooleanEvent NiDsPS5Controller::Touchpad(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
}
bool NiDsPS5Controller::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType NiDsPS5Controller::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs NiDsPS5Controller::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string NiDsPS5Controller::GetName() const {
return m_hid->GetName();
}
int NiDsPS5Controller::GetPort() const {
return m_hid->GetPort();
}
void NiDsPS5Controller::SetRumble(GenericHID::RumbleType type,
double value) {
m_hid->SetRumble(type, value);
}
void NiDsPS5Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsPS5");
builder.AddDoubleProperty("L2 Axis", [this] { return GetL2Axis(); }, nullptr);
builder.AddDoubleProperty("R2 Axis", [this] { return GetR2Axis(); }, nullptr);
builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("Square", [this] { return GetSquareButton(); }, nullptr);
builder.AddBooleanProperty("Cross", [this] { return GetCrossButton(); }, nullptr);
builder.AddBooleanProperty("Circle", [this] { return GetCircleButton(); }, nullptr);
builder.AddBooleanProperty("Triangle", [this] { return GetTriangleButton(); }, nullptr);
builder.AddBooleanProperty("L1", [this] { return GetL1Button(); }, nullptr);
builder.AddBooleanProperty("R1", [this] { return GetR1Button(); }, nullptr);
builder.AddBooleanProperty("L2", [this] { return GetL2Button(); }, nullptr);
builder.AddBooleanProperty("R2", [this] { return GetR2Button(); }, nullptr);
builder.AddBooleanProperty("Create", [this] { return GetCreateButton(); }, nullptr);
builder.AddBooleanProperty("Options", [this] { return GetOptionsButton(); }, nullptr);
builder.AddBooleanProperty("L3", [this] { return GetL3Button(); }, nullptr);
builder.AddBooleanProperty("R3", [this] { return GetR3Button(); }, nullptr);
builder.AddBooleanProperty("PS", [this] { return GetPSButton(); }, nullptr);
builder.AddBooleanProperty("Touchpad", [this] { return GetTouchpadButton(); }, nullptr);
builder.AddDoubleProperty("L2 Axis",
[this] { return GetL2Axis(); }, nullptr);
builder.AddDoubleProperty("R2 Axis",
[this] { return GetR2Axis(); }, nullptr);
builder.AddDoubleProperty("LeftX",
[this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("LeftY",
[this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightX",
[this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("RightY",
[this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("Square",
[this] { return GetSquareButton(); }, nullptr);
builder.AddBooleanProperty("Cross",
[this] { return GetCrossButton(); }, nullptr);
builder.AddBooleanProperty("Circle",
[this] { return GetCircleButton(); }, nullptr);
builder.AddBooleanProperty("Triangle",
[this] { return GetTriangleButton(); }, nullptr);
builder.AddBooleanProperty("L1",
[this] { return GetL1Button(); }, nullptr);
builder.AddBooleanProperty("R1",
[this] { return GetR1Button(); }, nullptr);
builder.AddBooleanProperty("L2",
[this] { return GetL2Button(); }, nullptr);
builder.AddBooleanProperty("R2",
[this] { return GetR2Button(); }, nullptr);
builder.AddBooleanProperty("Create",
[this] { return GetCreateButton(); }, nullptr);
builder.AddBooleanProperty("Options",
[this] { return GetOptionsButton(); }, nullptr);
builder.AddBooleanProperty("L3",
[this] { return GetL3Button(); }, nullptr);
builder.AddBooleanProperty("R3",
[this] { return GetR3Button(); }, nullptr);
builder.AddBooleanProperty("PS",
[this] { return GetPSButton(); }, nullptr);
builder.AddBooleanProperty("Touchpad",
[this] { return GetTouchpadButton(); }, nullptr);
}

200
wpilibc/src/generated/main/native/cpp/driverstation/NiDsStadiaController.cpp generated
View File

@@ -6,43 +6,55 @@
#include "wpi/driverstation/NiDsStadiaController.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/event/BooleanEvent.hpp"
using namespace wpi;
NiDsStadiaController::NiDsStadiaController(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "NiDsStadiaController");
NiDsStadiaController::NiDsStadiaController(int port)
: NiDsStadiaController{DriverStation::GetGenericHID(port)} {}
NiDsStadiaController::NiDsStadiaController(GenericHID& hid)
: m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "NiDsStadiaController");
}
GenericHID& NiDsStadiaController::GetHID() {
return *m_hid;
}
const GenericHID& NiDsStadiaController::GetHID() const {
return *m_hid;
}
double NiDsStadiaController::GetLeftX() const {
return GetRawAxis(Axis::kLeftX);
return m_hid->GetRawAxis(Axis::kLeftX);
}
double NiDsStadiaController::GetRightX() const {
return GetRawAxis(Axis::kRightX);
return m_hid->GetRawAxis(Axis::kRightX);
}
double NiDsStadiaController::GetLeftY() const {
return GetRawAxis(Axis::kLeftY);
return m_hid->GetRawAxis(Axis::kLeftY);
}
double NiDsStadiaController::GetRightY() const {
return GetRawAxis(Axis::kRightY);
return m_hid->GetRawAxis(Axis::kRightY);
}
bool NiDsStadiaController::GetAButton() const {
return GetRawButton(Button::kA);
return m_hid->GetRawButton(Button::kA);
}
bool NiDsStadiaController::GetAButtonPressed() {
return GetRawButtonPressed(Button::kA);
return m_hid->GetRawButtonPressed(Button::kA);
}
bool NiDsStadiaController::GetAButtonReleased() {
return GetRawButtonReleased(Button::kA);
return m_hid->GetRawButtonReleased(Button::kA);
}
BooleanEvent NiDsStadiaController::A(EventLoop* loop) const {
@@ -50,15 +62,15 @@ BooleanEvent NiDsStadiaController::A(EventLoop* loop) const {
}
bool NiDsStadiaController::GetBButton() const {
return GetRawButton(Button::kB);
return m_hid->GetRawButton(Button::kB);
}
bool NiDsStadiaController::GetBButtonPressed() {
return GetRawButtonPressed(Button::kB);
return m_hid->GetRawButtonPressed(Button::kB);
}
bool NiDsStadiaController::GetBButtonReleased() {
return GetRawButtonReleased(Button::kB);
return m_hid->GetRawButtonReleased(Button::kB);
}
BooleanEvent NiDsStadiaController::B(EventLoop* loop) const {
@@ -66,15 +78,15 @@ BooleanEvent NiDsStadiaController::B(EventLoop* loop) const {
}
bool NiDsStadiaController::GetXButton() const {
return GetRawButton(Button::kX);
return m_hid->GetRawButton(Button::kX);
}
bool NiDsStadiaController::GetXButtonPressed() {
return GetRawButtonPressed(Button::kX);
return m_hid->GetRawButtonPressed(Button::kX);
}
bool NiDsStadiaController::GetXButtonReleased() {
return GetRawButtonReleased(Button::kX);
return m_hid->GetRawButtonReleased(Button::kX);
}
BooleanEvent NiDsStadiaController::X(EventLoop* loop) const {
@@ -82,15 +94,15 @@ BooleanEvent NiDsStadiaController::X(EventLoop* loop) const {
}
bool NiDsStadiaController::GetYButton() const {
return GetRawButton(Button::kY);
return m_hid->GetRawButton(Button::kY);
}
bool NiDsStadiaController::GetYButtonPressed() {
return GetRawButtonPressed(Button::kY);
return m_hid->GetRawButtonPressed(Button::kY);
}
bool NiDsStadiaController::GetYButtonReleased() {
return GetRawButtonReleased(Button::kY);
return m_hid->GetRawButtonReleased(Button::kY);
}
BooleanEvent NiDsStadiaController::Y(EventLoop* loop) const {
@@ -98,15 +110,15 @@ BooleanEvent NiDsStadiaController::Y(EventLoop* loop) const {
}
bool NiDsStadiaController::GetLeftBumperButton() const {
return GetRawButton(Button::kLeftBumper);
return m_hid->GetRawButton(Button::kLeftBumper);
}
bool NiDsStadiaController::GetLeftBumperButtonPressed() {
return GetRawButtonPressed(Button::kLeftBumper);
return m_hid->GetRawButtonPressed(Button::kLeftBumper);
}
bool NiDsStadiaController::GetLeftBumperButtonReleased() {
return GetRawButtonReleased(Button::kLeftBumper);
return m_hid->GetRawButtonReleased(Button::kLeftBumper);
}
BooleanEvent NiDsStadiaController::LeftBumper(EventLoop* loop) const {
@@ -114,15 +126,15 @@ BooleanEvent NiDsStadiaController::LeftBumper(EventLoop* loop) const {
}
bool NiDsStadiaController::GetRightBumperButton() const {
return GetRawButton(Button::kRightBumper);
return m_hid->GetRawButton(Button::kRightBumper);
}
bool NiDsStadiaController::GetRightBumperButtonPressed() {
return GetRawButtonPressed(Button::kRightBumper);
return m_hid->GetRawButtonPressed(Button::kRightBumper);
}
bool NiDsStadiaController::GetRightBumperButtonReleased() {
return GetRawButtonReleased(Button::kRightBumper);
return m_hid->GetRawButtonReleased(Button::kRightBumper);
}
BooleanEvent NiDsStadiaController::RightBumper(EventLoop* loop) const {
@@ -130,15 +142,15 @@ BooleanEvent NiDsStadiaController::RightBumper(EventLoop* loop) const {
}
bool NiDsStadiaController::GetLeftStickButton() const {
return GetRawButton(Button::kLeftStick);
return m_hid->GetRawButton(Button::kLeftStick);
}
bool NiDsStadiaController::GetLeftStickButtonPressed() {
return GetRawButtonPressed(Button::kLeftStick);
return m_hid->GetRawButtonPressed(Button::kLeftStick);
}
bool NiDsStadiaController::GetLeftStickButtonReleased() {
return GetRawButtonReleased(Button::kLeftStick);
return m_hid->GetRawButtonReleased(Button::kLeftStick);
}
BooleanEvent NiDsStadiaController::LeftStick(EventLoop* loop) const {
@@ -146,15 +158,15 @@ BooleanEvent NiDsStadiaController::LeftStick(EventLoop* loop) const {
}
bool NiDsStadiaController::GetRightStickButton() const {
return GetRawButton(Button::kRightStick);
return m_hid->GetRawButton(Button::kRightStick);
}
bool NiDsStadiaController::GetRightStickButtonPressed() {
return GetRawButtonPressed(Button::kRightStick);
return m_hid->GetRawButtonPressed(Button::kRightStick);
}
bool NiDsStadiaController::GetRightStickButtonReleased() {
return GetRawButtonReleased(Button::kRightStick);
return m_hid->GetRawButtonReleased(Button::kRightStick);
}
BooleanEvent NiDsStadiaController::RightStick(EventLoop* loop) const {
@@ -162,15 +174,15 @@ BooleanEvent NiDsStadiaController::RightStick(EventLoop* loop) const {
}
bool NiDsStadiaController::GetEllipsesButton() const {
return GetRawButton(Button::kEllipses);
return m_hid->GetRawButton(Button::kEllipses);
}
bool NiDsStadiaController::GetEllipsesButtonPressed() {
return GetRawButtonPressed(Button::kEllipses);
return m_hid->GetRawButtonPressed(Button::kEllipses);
}
bool NiDsStadiaController::GetEllipsesButtonReleased() {
return GetRawButtonReleased(Button::kEllipses);
return m_hid->GetRawButtonReleased(Button::kEllipses);
}
BooleanEvent NiDsStadiaController::Ellipses(EventLoop* loop) const {
@@ -178,15 +190,15 @@ BooleanEvent NiDsStadiaController::Ellipses(EventLoop* loop) const {
}
bool NiDsStadiaController::GetHamburgerButton() const {
return GetRawButton(Button::kHamburger);
return m_hid->GetRawButton(Button::kHamburger);
}
bool NiDsStadiaController::GetHamburgerButtonPressed() {
return GetRawButtonPressed(Button::kHamburger);
return m_hid->GetRawButtonPressed(Button::kHamburger);
}
bool NiDsStadiaController::GetHamburgerButtonReleased() {
return GetRawButtonReleased(Button::kHamburger);
return m_hid->GetRawButtonReleased(Button::kHamburger);
}
BooleanEvent NiDsStadiaController::Hamburger(EventLoop* loop) const {
@@ -194,15 +206,15 @@ BooleanEvent NiDsStadiaController::Hamburger(EventLoop* loop) const {
}
bool NiDsStadiaController::GetStadiaButton() const {
return GetRawButton(Button::kStadia);
return m_hid->GetRawButton(Button::kStadia);
}
bool NiDsStadiaController::GetStadiaButtonPressed() {
return GetRawButtonPressed(Button::kStadia);
return m_hid->GetRawButtonPressed(Button::kStadia);
}
bool NiDsStadiaController::GetStadiaButtonReleased() {
return GetRawButtonReleased(Button::kStadia);
return m_hid->GetRawButtonReleased(Button::kStadia);
}
BooleanEvent NiDsStadiaController::Stadia(EventLoop* loop) const {
@@ -210,15 +222,15 @@ BooleanEvent NiDsStadiaController::Stadia(EventLoop* loop) const {
}
bool NiDsStadiaController::GetRightTriggerButton() const {
return GetRawButton(Button::kRightTrigger);
return m_hid->GetRawButton(Button::kRightTrigger);
}
bool NiDsStadiaController::GetRightTriggerButtonPressed() {
return GetRawButtonPressed(Button::kRightTrigger);
return m_hid->GetRawButtonPressed(Button::kRightTrigger);
}
bool NiDsStadiaController::GetRightTriggerButtonReleased() {
return GetRawButtonReleased(Button::kRightTrigger);
return m_hid->GetRawButtonReleased(Button::kRightTrigger);
}
BooleanEvent NiDsStadiaController::RightTrigger(EventLoop* loop) const {
@@ -226,15 +238,15 @@ BooleanEvent NiDsStadiaController::RightTrigger(EventLoop* loop) const {
}
bool NiDsStadiaController::GetLeftTriggerButton() const {
return GetRawButton(Button::kLeftTrigger);
return m_hid->GetRawButton(Button::kLeftTrigger);
}
bool NiDsStadiaController::GetLeftTriggerButtonPressed() {
return GetRawButtonPressed(Button::kLeftTrigger);
return m_hid->GetRawButtonPressed(Button::kLeftTrigger);
}
bool NiDsStadiaController::GetLeftTriggerButtonReleased() {
return GetRawButtonReleased(Button::kLeftTrigger);
return m_hid->GetRawButtonReleased(Button::kLeftTrigger);
}
BooleanEvent NiDsStadiaController::LeftTrigger(EventLoop* loop) const {
@@ -242,15 +254,15 @@ BooleanEvent NiDsStadiaController::LeftTrigger(EventLoop* loop) const {
}
bool NiDsStadiaController::GetGoogleButton() const {
return GetRawButton(Button::kGoogle);
return m_hid->GetRawButton(Button::kGoogle);
}
bool NiDsStadiaController::GetGoogleButtonPressed() {
return GetRawButtonPressed(Button::kGoogle);
return m_hid->GetRawButtonPressed(Button::kGoogle);
}
bool NiDsStadiaController::GetGoogleButtonReleased() {
return GetRawButtonReleased(Button::kGoogle);
return m_hid->GetRawButtonReleased(Button::kGoogle);
}
BooleanEvent NiDsStadiaController::Google(EventLoop* loop) const {
@@ -258,41 +270,85 @@ BooleanEvent NiDsStadiaController::Google(EventLoop* loop) const {
}
bool NiDsStadiaController::GetFrameButton() const {
return GetRawButton(Button::kFrame);
return m_hid->GetRawButton(Button::kFrame);
}
bool NiDsStadiaController::GetFrameButtonPressed() {
return GetRawButtonPressed(Button::kFrame);
return m_hid->GetRawButtonPressed(Button::kFrame);
}
bool NiDsStadiaController::GetFrameButtonReleased() {
return GetRawButtonReleased(Button::kFrame);
return m_hid->GetRawButtonReleased(Button::kFrame);
}
BooleanEvent NiDsStadiaController::Frame(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetFrameButton(); });
}
bool NiDsStadiaController::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType NiDsStadiaController::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs NiDsStadiaController::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string NiDsStadiaController::GetName() const {
return m_hid->GetName();
}
int NiDsStadiaController::GetPort() const {
return m_hid->GetPort();
}
void NiDsStadiaController::SetRumble(GenericHID::RumbleType type,
double value) {
m_hid->SetRumble(type, value);
}
void NiDsStadiaController::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsStadia");
builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
builder.AddBooleanProperty("Ellipses", [this] { return GetEllipsesButton(); }, nullptr);
builder.AddBooleanProperty("Hamburger", [this] { return GetHamburgerButton(); }, nullptr);
builder.AddBooleanProperty("Stadia", [this] { return GetStadiaButton(); }, nullptr);
builder.AddBooleanProperty("RightTrigger", [this] { return GetRightTriggerButton(); }, nullptr);
builder.AddBooleanProperty("LeftTrigger", [this] { return GetLeftTriggerButton(); }, nullptr);
builder.AddBooleanProperty("Google", [this] { return GetGoogleButton(); }, nullptr);
builder.AddBooleanProperty("Frame", [this] { return GetFrameButton(); }, nullptr);
builder.AddDoubleProperty("LeftX",
[this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("RightX",
[this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("LeftY",
[this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightY",
[this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("A",
[this] { return GetAButton(); }, nullptr);
builder.AddBooleanProperty("B",
[this] { return GetBButton(); }, nullptr);
builder.AddBooleanProperty("X",
[this] { return GetXButton(); }, nullptr);
builder.AddBooleanProperty("Y",
[this] { return GetYButton(); }, nullptr);
builder.AddBooleanProperty("LeftBumper",
[this] { return GetLeftBumperButton(); }, nullptr);
builder.AddBooleanProperty("RightBumper",
[this] { return GetRightBumperButton(); }, nullptr);
builder.AddBooleanProperty("LeftStick",
[this] { return GetLeftStickButton(); }, nullptr);
builder.AddBooleanProperty("RightStick",
[this] { return GetRightStickButton(); }, nullptr);
builder.AddBooleanProperty("Ellipses",
[this] { return GetEllipsesButton(); }, nullptr);
builder.AddBooleanProperty("Hamburger",
[this] { return GetHamburgerButton(); }, nullptr);
builder.AddBooleanProperty("Stadia",
[this] { return GetStadiaButton(); }, nullptr);
builder.AddBooleanProperty("RightTrigger",
[this] { return GetRightTriggerButton(); }, nullptr);
builder.AddBooleanProperty("LeftTrigger",
[this] { return GetLeftTriggerButton(); }, nullptr);
builder.AddBooleanProperty("Google",
[this] { return GetGoogleButton(); }, nullptr);
builder.AddBooleanProperty("Frame",
[this] { return GetFrameButton(); }, nullptr);
}

177
wpilibc/src/generated/main/native/cpp/driverstation/NiDsXboxController.cpp generated
View File

@@ -6,39 +6,53 @@
#include "wpi/driverstation/NiDsXboxController.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/event/BooleanEvent.hpp"
using namespace wpi;
NiDsXboxController::NiDsXboxController(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "NiDsXboxController");
NiDsXboxController::NiDsXboxController(int port)
: NiDsXboxController{DriverStation::GetGenericHID(port)} {}
NiDsXboxController::NiDsXboxController(GenericHID& hid)
: m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "NiDsXboxController");
}
GenericHID& NiDsXboxController::GetHID() {
return *m_hid;
}
const GenericHID& NiDsXboxController::GetHID() const {
return *m_hid;
}
double NiDsXboxController::GetLeftX() const {
return GetRawAxis(Axis::kLeftX);
return m_hid->GetRawAxis(Axis::kLeftX);
}
double NiDsXboxController::GetRightX() const {
return GetRawAxis(Axis::kRightX);
return m_hid->GetRawAxis(Axis::kRightX);
}
double NiDsXboxController::GetLeftY() const {
return GetRawAxis(Axis::kLeftY);
return m_hid->GetRawAxis(Axis::kLeftY);
}
double NiDsXboxController::GetRightY() const {
return GetRawAxis(Axis::kRightY);
return m_hid->GetRawAxis(Axis::kRightY);
}
double NiDsXboxController::GetLeftTriggerAxis() const {
return GetRawAxis(Axis::kLeftTrigger);
return m_hid->GetRawAxis(Axis::kLeftTrigger);
}
BooleanEvent NiDsXboxController::LeftTrigger(double threshold, EventLoop* loop) const {
return BooleanEvent(loop, [this, threshold] { return this->GetLeftTriggerAxis() > threshold; });
BooleanEvent NiDsXboxController::LeftTrigger(double threshold,
EventLoop* loop) const {
return BooleanEvent(
loop, [this, threshold] { return this->GetLeftTriggerAxis() > threshold; });
}
BooleanEvent NiDsXboxController::LeftTrigger(EventLoop* loop) const {
@@ -46,11 +60,13 @@ BooleanEvent NiDsXboxController::LeftTrigger(EventLoop* loop) const {
}
double NiDsXboxController::GetRightTriggerAxis() const {
return GetRawAxis(Axis::kRightTrigger);
return m_hid->GetRawAxis(Axis::kRightTrigger);
}
BooleanEvent NiDsXboxController::RightTrigger(double threshold, EventLoop* loop) const {
return BooleanEvent(loop, [this, threshold] { return this->GetRightTriggerAxis() > threshold; });
BooleanEvent NiDsXboxController::RightTrigger(double threshold,
EventLoop* loop) const {
return BooleanEvent(
loop, [this, threshold] { return this->GetRightTriggerAxis() > threshold; });
}
BooleanEvent NiDsXboxController::RightTrigger(EventLoop* loop) const {
@@ -58,15 +74,15 @@ BooleanEvent NiDsXboxController::RightTrigger(EventLoop* loop) const {
}
bool NiDsXboxController::GetAButton() const {
return GetRawButton(Button::kA);
return m_hid->GetRawButton(Button::kA);
}
bool NiDsXboxController::GetAButtonPressed() {
return GetRawButtonPressed(Button::kA);
return m_hid->GetRawButtonPressed(Button::kA);
}
bool NiDsXboxController::GetAButtonReleased() {
return GetRawButtonReleased(Button::kA);
return m_hid->GetRawButtonReleased(Button::kA);
}
BooleanEvent NiDsXboxController::A(EventLoop* loop) const {
@@ -74,15 +90,15 @@ BooleanEvent NiDsXboxController::A(EventLoop* loop) const {
}
bool NiDsXboxController::GetBButton() const {
return GetRawButton(Button::kB);
return m_hid->GetRawButton(Button::kB);
}
bool NiDsXboxController::GetBButtonPressed() {
return GetRawButtonPressed(Button::kB);
return m_hid->GetRawButtonPressed(Button::kB);
}
bool NiDsXboxController::GetBButtonReleased() {
return GetRawButtonReleased(Button::kB);
return m_hid->GetRawButtonReleased(Button::kB);
}
BooleanEvent NiDsXboxController::B(EventLoop* loop) const {
@@ -90,15 +106,15 @@ BooleanEvent NiDsXboxController::B(EventLoop* loop) const {
}
bool NiDsXboxController::GetXButton() const {
return GetRawButton(Button::kX);
return m_hid->GetRawButton(Button::kX);
}
bool NiDsXboxController::GetXButtonPressed() {
return GetRawButtonPressed(Button::kX);
return m_hid->GetRawButtonPressed(Button::kX);
}
bool NiDsXboxController::GetXButtonReleased() {
return GetRawButtonReleased(Button::kX);
return m_hid->GetRawButtonReleased(Button::kX);
}
BooleanEvent NiDsXboxController::X(EventLoop* loop) const {
@@ -106,15 +122,15 @@ BooleanEvent NiDsXboxController::X(EventLoop* loop) const {
}
bool NiDsXboxController::GetYButton() const {
return GetRawButton(Button::kY);
return m_hid->GetRawButton(Button::kY);
}
bool NiDsXboxController::GetYButtonPressed() {
return GetRawButtonPressed(Button::kY);
return m_hid->GetRawButtonPressed(Button::kY);
}
bool NiDsXboxController::GetYButtonReleased() {
return GetRawButtonReleased(Button::kY);
return m_hid->GetRawButtonReleased(Button::kY);
}
BooleanEvent NiDsXboxController::Y(EventLoop* loop) const {
@@ -122,15 +138,15 @@ BooleanEvent NiDsXboxController::Y(EventLoop* loop) const {
}
bool NiDsXboxController::GetLeftBumperButton() const {
return GetRawButton(Button::kLeftBumper);
return m_hid->GetRawButton(Button::kLeftBumper);
}
bool NiDsXboxController::GetLeftBumperButtonPressed() {
return GetRawButtonPressed(Button::kLeftBumper);
return m_hid->GetRawButtonPressed(Button::kLeftBumper);
}
bool NiDsXboxController::GetLeftBumperButtonReleased() {
return GetRawButtonReleased(Button::kLeftBumper);
return m_hid->GetRawButtonReleased(Button::kLeftBumper);
}
BooleanEvent NiDsXboxController::LeftBumper(EventLoop* loop) const {
@@ -138,15 +154,15 @@ BooleanEvent NiDsXboxController::LeftBumper(EventLoop* loop) const {
}
bool NiDsXboxController::GetRightBumperButton() const {
return GetRawButton(Button::kRightBumper);
return m_hid->GetRawButton(Button::kRightBumper);
}
bool NiDsXboxController::GetRightBumperButtonPressed() {
return GetRawButtonPressed(Button::kRightBumper);
return m_hid->GetRawButtonPressed(Button::kRightBumper);
}
bool NiDsXboxController::GetRightBumperButtonReleased() {
return GetRawButtonReleased(Button::kRightBumper);
return m_hid->GetRawButtonReleased(Button::kRightBumper);
}
BooleanEvent NiDsXboxController::RightBumper(EventLoop* loop) const {
@@ -154,15 +170,15 @@ BooleanEvent NiDsXboxController::RightBumper(EventLoop* loop) const {
}
bool NiDsXboxController::GetBackButton() const {
return GetRawButton(Button::kBack);
return m_hid->GetRawButton(Button::kBack);
}
bool NiDsXboxController::GetBackButtonPressed() {
return GetRawButtonPressed(Button::kBack);
return m_hid->GetRawButtonPressed(Button::kBack);
}
bool NiDsXboxController::GetBackButtonReleased() {
return GetRawButtonReleased(Button::kBack);
return m_hid->GetRawButtonReleased(Button::kBack);
}
BooleanEvent NiDsXboxController::Back(EventLoop* loop) const {
@@ -170,15 +186,15 @@ BooleanEvent NiDsXboxController::Back(EventLoop* loop) const {
}
bool NiDsXboxController::GetStartButton() const {
return GetRawButton(Button::kStart);
return m_hid->GetRawButton(Button::kStart);
}
bool NiDsXboxController::GetStartButtonPressed() {
return GetRawButtonPressed(Button::kStart);
return m_hid->GetRawButtonPressed(Button::kStart);
}
bool NiDsXboxController::GetStartButtonReleased() {
return GetRawButtonReleased(Button::kStart);
return m_hid->GetRawButtonReleased(Button::kStart);
}
BooleanEvent NiDsXboxController::Start(EventLoop* loop) const {
@@ -186,15 +202,15 @@ BooleanEvent NiDsXboxController::Start(EventLoop* loop) const {
}
bool NiDsXboxController::GetLeftStickButton() const {
return GetRawButton(Button::kLeftStick);
return m_hid->GetRawButton(Button::kLeftStick);
}
bool NiDsXboxController::GetLeftStickButtonPressed() {
return GetRawButtonPressed(Button::kLeftStick);
return m_hid->GetRawButtonPressed(Button::kLeftStick);
}
bool NiDsXboxController::GetLeftStickButtonReleased() {
return GetRawButtonReleased(Button::kLeftStick);
return m_hid->GetRawButtonReleased(Button::kLeftStick);
}
BooleanEvent NiDsXboxController::LeftStick(EventLoop* loop) const {
@@ -202,38 +218,79 @@ BooleanEvent NiDsXboxController::LeftStick(EventLoop* loop) const {
}
bool NiDsXboxController::GetRightStickButton() const {
return GetRawButton(Button::kRightStick);
return m_hid->GetRawButton(Button::kRightStick);
}
bool NiDsXboxController::GetRightStickButtonPressed() {
return GetRawButtonPressed(Button::kRightStick);
return m_hid->GetRawButtonPressed(Button::kRightStick);
}
bool NiDsXboxController::GetRightStickButtonReleased() {
return GetRawButtonReleased(Button::kRightStick);
return m_hid->GetRawButtonReleased(Button::kRightStick);
}
BooleanEvent NiDsXboxController::RightStick(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
}
bool NiDsXboxController::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType NiDsXboxController::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs NiDsXboxController::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string NiDsXboxController::GetName() const {
return m_hid->GetName();
}
int NiDsXboxController::GetPort() const {
return m_hid->GetPort();
}
void NiDsXboxController::SetRumble(GenericHID::RumbleType type,
double value) {
m_hid->SetRumble(type, value);
}
void NiDsXboxController::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsXbox");
builder.AddDoubleProperty("LeftTrigger Axis", [this] { return GetLeftTriggerAxis(); }, nullptr);
builder.AddDoubleProperty("RightTrigger Axis", [this] { return GetRightTriggerAxis(); }, nullptr);
builder.AddDoubleProperty("LeftX", [this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("RightX", [this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("LeftY", [this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightY", [this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("A", [this] { return GetAButton(); }, nullptr);
builder.AddBooleanProperty("B", [this] { return GetBButton(); }, nullptr);
builder.AddBooleanProperty("X", [this] { return GetXButton(); }, nullptr);
builder.AddBooleanProperty("Y", [this] { return GetYButton(); }, nullptr);
builder.AddBooleanProperty("LeftBumper", [this] { return GetLeftBumperButton(); }, nullptr);
builder.AddBooleanProperty("RightBumper", [this] { return GetRightBumperButton(); }, nullptr);
builder.AddBooleanProperty("Back", [this] { return GetBackButton(); }, nullptr);
builder.AddBooleanProperty("Start", [this] { return GetStartButton(); }, nullptr);
builder.AddBooleanProperty("LeftStick", [this] { return GetLeftStickButton(); }, nullptr);
builder.AddBooleanProperty("RightStick", [this] { return GetRightStickButton(); }, nullptr);
builder.AddDoubleProperty("LeftTrigger Axis",
[this] { return GetLeftTriggerAxis(); }, nullptr);
builder.AddDoubleProperty("RightTrigger Axis",
[this] { return GetRightTriggerAxis(); }, nullptr);
builder.AddDoubleProperty("LeftX",
[this] { return GetLeftX(); }, nullptr);
builder.AddDoubleProperty("RightX",
[this] { return GetRightX(); }, nullptr);
builder.AddDoubleProperty("LeftY",
[this] { return GetLeftY(); }, nullptr);
builder.AddDoubleProperty("RightY",
[this] { return GetRightY(); }, nullptr);
builder.AddBooleanProperty("A",
[this] { return GetAButton(); }, nullptr);
builder.AddBooleanProperty("B",
[this] { return GetBButton(); }, nullptr);
builder.AddBooleanProperty("X",
[this] { return GetXButton(); }, nullptr);
builder.AddBooleanProperty("Y",
[this] { return GetYButton(); }, nullptr);
builder.AddBooleanProperty("LeftBumper",
[this] { return GetLeftBumperButton(); }, nullptr);
builder.AddBooleanProperty("RightBumper",
[this] { return GetRightBumperButton(); }, nullptr);
builder.AddBooleanProperty("Back",
[this] { return GetBackButton(); }, nullptr);
builder.AddBooleanProperty("Start",
[this] { return GetStartButton(); }, nullptr);
builder.AddBooleanProperty("LeftStick",
[this] { return GetLeftStickButton(); }, nullptr);
builder.AddBooleanProperty("RightStick",
[this] { return GetRightStickButton(); }, nullptr);
}

2
wpilibc/src/generated/main/native/cpp/simulation/NiDsPS4ControllerSim.cpp generated
View File

@@ -12,7 +12,7 @@ using namespace wpi;
using namespace wpi::sim;
NiDsPS4ControllerSim::NiDsPS4ControllerSim(const NiDsPS4Controller& joystick)
: GenericHIDSim{joystick} {
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex(6);
SetButtonsMaximumIndex(14);
SetPOVsMaximumIndex(1);

2
wpilibc/src/generated/main/native/cpp/simulation/NiDsPS5ControllerSim.cpp generated
View File

@@ -12,7 +12,7 @@ using namespace wpi;
using namespace wpi::sim;
NiDsPS5ControllerSim::NiDsPS5ControllerSim(const NiDsPS5Controller& joystick)
: GenericHIDSim{joystick} {
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex(6);
SetButtonsMaximumIndex(14);
SetPOVsMaximumIndex(1);

2
wpilibc/src/generated/main/native/cpp/simulation/NiDsStadiaControllerSim.cpp generated
View File

@@ -12,7 +12,7 @@ using namespace wpi;
using namespace wpi::sim;
NiDsStadiaControllerSim::NiDsStadiaControllerSim(const NiDsStadiaController& joystick)
: GenericHIDSim{joystick} {
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex(4);
SetButtonsMaximumIndex(15);
SetPOVsMaximumIndex(1);

2
wpilibc/src/generated/main/native/cpp/simulation/NiDsXboxControllerSim.cpp generated
View File

@@ -12,7 +12,7 @@ using namespace wpi;
using namespace wpi::sim;
NiDsXboxControllerSim::NiDsXboxControllerSim(const NiDsXboxController& joystick)
: GenericHIDSim{joystick} {
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex(6);
SetButtonsMaximumIndex(10);
SetPOVsMaximumIndex(1);

79
wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS4Controller.hpp generated
View File

@@ -6,10 +6,12 @@
#pragma once
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
@@ -25,7 +27,8 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class NiDsPS4Controller : public GenericHID,
class NiDsPS4Controller
: public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<NiDsPS4Controller> {
public:
@@ -39,11 +42,32 @@ class NiDsPS4Controller : public GenericHID,
*/
explicit NiDsPS4Controller(int port);
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
explicit NiDsPS4Controller(GenericHID& hid);
~NiDsPS4Controller() override = default;
NiDsPS4Controller(NiDsPS4Controller&&) = default;
NiDsPS4Controller& operator=(NiDsPS4Controller&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
@@ -570,7 +594,56 @@ class NiDsPS4Controller : public GenericHID,
static constexpr int kR2 = 4;
};
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
bool IsConnected() const;
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
std::string GetName() const;
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
int GetPort() const;
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
GenericHID* m_hid;
};
} // namespace wpi

79
wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsPS5Controller.hpp generated
View File

@@ -6,10 +6,12 @@
#pragma once
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
@@ -25,7 +27,8 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class NiDsPS5Controller : public GenericHID,
class NiDsPS5Controller
: public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<NiDsPS5Controller> {
public:
@@ -39,11 +42,32 @@ class NiDsPS5Controller : public GenericHID,
*/
explicit NiDsPS5Controller(int port);
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
explicit NiDsPS5Controller(GenericHID& hid);
~NiDsPS5Controller() override = default;
NiDsPS5Controller(NiDsPS5Controller&&) = default;
NiDsPS5Controller& operator=(NiDsPS5Controller&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
@@ -570,7 +594,56 @@ class NiDsPS5Controller : public GenericHID,
static constexpr int kR2 = 4;
};
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
bool IsConnected() const;
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
std::string GetName() const;
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
int GetPort() const;
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
GenericHID* m_hid;
};
} // namespace wpi

79
wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsStadiaController.hpp generated
View File

@@ -6,10 +6,12 @@
#pragma once
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
@@ -25,7 +27,8 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class NiDsStadiaController : public GenericHID,
class NiDsStadiaController
: public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<NiDsStadiaController> {
public:
@@ -39,11 +42,32 @@ class NiDsStadiaController : public GenericHID,
*/
explicit NiDsStadiaController(int port);
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
explicit NiDsStadiaController(GenericHID& hid);
~NiDsStadiaController() override = default;
NiDsStadiaController(NiDsStadiaController&&) = default;
NiDsStadiaController& operator=(NiDsStadiaController&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
@@ -583,7 +607,56 @@ class NiDsStadiaController : public GenericHID,
static constexpr int kRightY = 4;
};
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
bool IsConnected() const;
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
std::string GetName() const;
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
int GetPort() const;
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
GenericHID* m_hid;
};
} // namespace wpi

79
wpilibc/src/generated/main/native/include/wpi/driverstation/NiDsXboxController.hpp generated
View File

@@ -6,10 +6,12 @@
#pragma once
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
namespace wpi {
@@ -25,7 +27,8 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class NiDsXboxController : public GenericHID,
class NiDsXboxController
: public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<NiDsXboxController> {
public:
@@ -39,11 +42,32 @@ class NiDsXboxController : public GenericHID,
*/
explicit NiDsXboxController(int port);
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
explicit NiDsXboxController(GenericHID& hid);
~NiDsXboxController() override = default;
NiDsXboxController(NiDsXboxController&&) = default;
NiDsXboxController& operator=(NiDsXboxController&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
@@ -482,7 +506,56 @@ class NiDsXboxController : public GenericHID,
static constexpr int kRightTrigger = 3;
};
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
bool IsConnected() const;
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
std::string GetName() const;
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
int GetPort() const;
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
GenericHID* m_hid;
};
} // namespace wpi

69
wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp Normal file
View File

@@ -0,0 +1,69 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/driverstation/DriverStation.hpp"
#include <array>
#include <memory>
#include <mutex>
#include "wpi/driverstation/Gamepad.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/system/Errors.hpp"
using namespace wpi;
namespace {
std::mutex dsMutex;
std::array<std::unique_ptr<GenericHID>,
wpi::internal::DriverStationBackend::JOYSTICK_PORTS>
hids;
std::array<std::unique_ptr<Gamepad>,
wpi::internal::DriverStationBackend::JOYSTICK_PORTS>
gamepads;
void ValidatePort(int port) {
if (port < 0 || port >= wpi::internal::DriverStationBackend::JOYSTICK_PORTS) {
throw WPILIB_MakeError(warn::BadJoystickIndex, "port {} out of range",
port);
}
}
} // namespace
GenericHID& DriverStation::GetGenericHIDUnderLock(int port) {
ValidatePort(port);
if (!hids[port]) {
hids[port].reset(new GenericHID(port));
}
return *hids[port];
}
GenericHID& DriverStation::GetGenericHID(int port) {
std::scoped_lock lock{dsMutex};
return GetGenericHIDUnderLock(port);
}
Gamepad& DriverStation::GetGamepad(int port) {
std::scoped_lock lock{dsMutex};
ValidatePort(port);
if (!gamepads[port]) {
gamepads[port] = std::make_unique<Gamepad>(GetGenericHIDUnderLock(port));
}
return *gamepads[port];
}
void wpi::internal::DriverStationBackend::ResetCachedHIDData() {
std::scoped_lock lock{dsMutex};
for (auto& gamepad : gamepads) {
gamepad.reset();
}
for (auto& hid : hids) {
hid.reset();
}
}

78
wpilibc/src/main/native/cpp/driverstation/Gamepad.cpp
View File

@@ -6,7 +6,9 @@
#include <algorithm>
#include <cmath>
#include <string>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
#include "wpi/math/util/MathUtil.hpp"
@@ -21,8 +23,18 @@ static double ClampDeadband(double deadband) {
return std::clamp(deadband, 0.0, std::nextafter(1.0, 0.0));
}
Gamepad::Gamepad(int port) : GenericHID(port) {
HAL_ReportUsage("HID", port, "Gamepad");
Gamepad::Gamepad(int port) : Gamepad{DriverStation::GetGenericHID(port)} {}
Gamepad::Gamepad(GenericHID& hid) : m_hid{&hid} {
HAL_ReportUsage("HID", hid.GetPort(), "Gamepad");
}
GenericHID& Gamepad::GetHID() {
return *m_hid;
}
const GenericHID& Gamepad::GetHID() const {
return *m_hid;
}
double Gamepad::GetLeftX() const {
@@ -512,44 +524,88 @@ BooleanEvent Gamepad::Misc6(EventLoop* loop) const {
}
bool Gamepad::GetButton(Button button) const {
return GetRawButton(static_cast<int>(button));
return m_hid->GetRawButton(static_cast<int>(button));
}
bool Gamepad::GetButtonPressed(Button button) {
return GetRawButtonPressed(static_cast<int>(button));
return m_hid->GetRawButtonPressed(static_cast<int>(button));
}
bool Gamepad::GetButtonReleased(Button button) {
return GetRawButtonReleased(static_cast<int>(button));
return m_hid->GetRawButtonReleased(static_cast<int>(button));
}
BooleanEvent Gamepad::ButtonEvent(Button button, EventLoop* loop) const {
return GenericHID::Button(static_cast<int>(button), loop);
return m_hid->Button(static_cast<int>(button), loop);
}
double Gamepad::GetAxis(Axis axis) const {
return GetRawAxis(static_cast<int>(axis));
return m_hid->GetRawAxis(static_cast<int>(axis));
}
BooleanEvent Gamepad::AxisLessThan(Axis axis, double threshold,
EventLoop* loop) const {
return GenericHID::AxisLessThan(static_cast<int>(axis), threshold, loop);
return m_hid->AxisLessThan(static_cast<int>(axis), threshold, loop);
}
BooleanEvent Gamepad::AxisGreaterThan(Axis axis, double threshold,
EventLoop* loop) const {
return GenericHID::AxisGreaterThan(static_cast<int>(axis), threshold, loop);
return m_hid->AxisGreaterThan(static_cast<int>(axis), threshold, loop);
}
int Gamepad::GetAxesAvailable() const {
return m_hid->GetAxesAvailable();
}
uint64_t Gamepad::GetButtonsAvailable() const {
return m_hid->GetButtonsAvailable();
}
bool Gamepad::IsConnected() const {
return m_hid->IsConnected();
}
GenericHID::HIDType Gamepad::GetGamepadType() const {
return m_hid->GetGamepadType();
}
GenericHID::SupportedOutputs Gamepad::GetSupportedOutputs() const {
return m_hid->GetSupportedOutputs();
}
std::string Gamepad::GetName() const {
return m_hid->GetName();
}
int Gamepad::GetPort() const {
return m_hid->GetPort();
}
void Gamepad::SetLeds(int r, int g, int b) {
m_hid->SetLeds(r, g, b);
}
void Gamepad::SetRumble(GenericHID::RumbleType type, double value) {
m_hid->SetRumble(type, value);
}
bool Gamepad::GetTouchpadFingerAvailable(int touchpad, int finger) const {
return m_hid->GetTouchpadFingerAvailable(touchpad, finger);
}
TouchpadFinger Gamepad::GetTouchpadFinger(int touchpad, int finger) const {
return m_hid->GetTouchpadFinger(touchpad, finger);
}
double Gamepad::GetAxisForSendable(Axis axis) const {
return wpi::internal::DriverStationBackend::GetStickAxisIfAvailable(
GetPort(), static_cast<int>(axis))
m_hid->GetPort(), static_cast<int>(axis))
.value_or(0.0);
}
bool Gamepad::GetButtonForSendable(Button button) const {
return wpi::internal::DriverStationBackend::GetStickButtonIfAvailable(
GetPort(), static_cast<int>(button))
m_hid->GetPort(), static_cast<int>(button))
.value_or(false);
}

57
wpilibc/src/main/native/cpp/driverstation/Joystick.cpp
View File

@@ -6,19 +6,30 @@
#include <cmath>
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/event/BooleanEvent.hpp"
#include "wpi/hal/UsageReporting.hpp"
using namespace wpi;
Joystick::Joystick(int port) : GenericHID(port) {
Joystick::Joystick(int port) : Joystick{DriverStation::GetGenericHID(port)} {}
Joystick::Joystick(GenericHID& hid) : m_hid{&hid} {
m_axes[Axis::kX] = kDefaultXChannel;
m_axes[Axis::kY] = kDefaultYChannel;
m_axes[Axis::kZ] = kDefaultZChannel;
m_axes[Axis::kTwist] = kDefaultTwistChannel;
m_axes[Axis::kThrottle] = kDefaultThrottleChannel;
HAL_ReportUsage("HID", port, "Joystick");
HAL_ReportUsage("HID", hid.GetPort(), "Joystick");
}
GenericHID& Joystick::GetHID() {
return *m_hid;
}
const GenericHID& Joystick::GetHID() const {
return *m_hid;
}
void Joystick::SetXChannel(int channel) {
@@ -61,36 +72,56 @@ int Joystick::GetThrottleChannel() const {
return m_axes[Axis::kThrottle];
}
bool Joystick::GetRawButton(int button) const {
return m_hid->GetRawButton(button);
}
bool Joystick::GetRawButtonPressed(int button) {
return m_hid->GetRawButtonPressed(button);
}
bool Joystick::GetRawButtonReleased(int button) {
return m_hid->GetRawButtonReleased(button);
}
double Joystick::GetRawAxis(int axis) const {
return m_hid->GetRawAxis(axis);
}
POVDirection Joystick::GetPOV(int pov) const {
return m_hid->GetPOV(pov);
}
double Joystick::GetX() const {
return GetRawAxis(m_axes[Axis::kX]);
return m_hid->GetRawAxis(m_axes[Axis::kX]);
}
double Joystick::GetY() const {
return GetRawAxis(m_axes[Axis::kY]);
return m_hid->GetRawAxis(m_axes[Axis::kY]);
}
double Joystick::GetZ() const {
return GetRawAxis(m_axes[Axis::kZ]);
return m_hid->GetRawAxis(m_axes[Axis::kZ]);
}
double Joystick::GetTwist() const {
return GetRawAxis(m_axes[Axis::kTwist]);
return m_hid->GetRawAxis(m_axes[Axis::kTwist]);
}
double Joystick::GetThrottle() const {
return GetRawAxis(m_axes[Axis::kThrottle]);
return m_hid->GetRawAxis(m_axes[Axis::kThrottle]);
}
bool Joystick::GetTrigger() const {
return GetRawButton(Button::kTrigger);
return m_hid->GetRawButton(Button::kTrigger);
}
bool Joystick::GetTriggerPressed() {
return GetRawButtonPressed(Button::kTrigger);
return m_hid->GetRawButtonPressed(Button::kTrigger);
}
bool Joystick::GetTriggerReleased() {
return GetRawButtonReleased(Button::kTrigger);
return m_hid->GetRawButtonReleased(Button::kTrigger);
}
BooleanEvent Joystick::Trigger(EventLoop* loop) const {
@@ -98,15 +129,15 @@ BooleanEvent Joystick::Trigger(EventLoop* loop) const {
}
bool Joystick::GetTop() const {
return GetRawButton(Button::kTop);
return m_hid->GetRawButton(Button::kTop);
}
bool Joystick::GetTopPressed() {
return GetRawButtonPressed(Button::kTop);
return m_hid->GetRawButtonPressed(Button::kTop);
}
bool Joystick::GetTopReleased() {
return GetRawButtonReleased(Button::kTop);
return m_hid->GetRawButtonReleased(Button::kTop);
}
BooleanEvent Joystick::Top(EventLoop* loop) const {

5
wpilibc/src/main/native/cpp/driverstation/internal/DriverStationBackend.cpp
View File

@@ -18,6 +18,7 @@
#include <fmt/format.h>
#include "wpi/datalog/DataLog.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/hal/DriverStation.h"
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/HAL.h"
@@ -47,6 +48,10 @@ static constexpr int availableToCount(uint64_t available) {
return 64 - std::countl_zero(available);
}
GenericHID DriverStationBackend::ConstructGenericHID(int port) {
return GenericHID{port};
}
namespace {
// A simple class which caches the previous value written to an NT entry
// Used to prevent redundant, repeated writes of the same value

3
wpilibc/src/main/native/cpp/simulation/GamepadSim.cpp
View File

@@ -9,7 +9,8 @@
using namespace wpi;
using namespace wpi::sim;
GamepadSim::GamepadSim(const wpi::Gamepad& joystick) : GenericHIDSim{joystick} {
GamepadSim::GamepadSim(const wpi::Gamepad& joystick)
: GenericHIDSim{joystick.GetHID()} {
SetAxesMaximumIndex(6);
SetButtonsMaximumIndex(26);
SetPOVsMaximumIndex(1);

2
wpilibc/src/main/native/cpp/simulation/JoystickSim.cpp
View File

@@ -11,7 +11,7 @@ using namespace wpi;
using namespace wpi::sim;
JoystickSim::JoystickSim(const Joystick& joystick)
: GenericHIDSim{joystick}, m_joystick{&joystick} {
: GenericHIDSim{joystick.GetHID()}, m_joystick{&joystick} {
// default to a reasonable joystick configuration
SetAxesMaximumIndex(5);
SetButtonsMaximumIndex(12);

26
wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
View File

@@ -12,6 +12,9 @@ class DataLog;
namespace wpi {
class Gamepad;
class GenericHID;
/**
* Provides access to Driver Station functionality.
*/
@@ -19,6 +22,26 @@ class DriverStation final {
public:
DriverStation() = delete;
/**
* Gets the GenericHID object for the given port. GenericHID 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 controller is
* plugged into (0-5).
* @return The GenericHID object for the given port.
*/
static GenericHID& GetGenericHID(int port);
/**
* Gets the Gamepad object for the given port. Gamepad 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 controller is
* plugged into (0-5).
* @return The Gamepad object for the given port.
*/
static Gamepad& GetGamepad(int port);
/**
* Starts logging DriverStation data to data log, including joystick data.
* Repeated calls are ignored.
@@ -57,6 +80,9 @@ class DriverStation final {
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle) {
wpi::internal::DriverStationBackend::RemoveRefreshedDataEventHandle(handle);
}
private:
static GenericHID& GetGenericHIDUnderLock(int port);
};
} // namespace wpi

113
wpilibc/src/main/native/include/wpi/driverstation/Gamepad.hpp
View File

@@ -4,7 +4,10 @@
#pragma once
#include <string>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
@@ -22,7 +25,7 @@ namespace wpi {
* correct mapping, and only through the official NI DS. Sim is not guaranteed
* to have the same mapping, as well as any 3rd party controllers.
*/
class Gamepad : public GenericHID,
class Gamepad : public HIDDevice,
public wpi::util::Sendable,
public wpi::util::SendableHelper<Gamepad> {
public:
@@ -108,11 +111,32 @@ class Gamepad : public GenericHID,
*/
explicit Gamepad(int port);
/**
* Construct an instance of a gamepad with a GenericHID object.
*
* @param hid The GenericHID object to use for this gamepad.
*/
explicit Gamepad(GenericHID& hid);
~Gamepad() override = default;
Gamepad(Gamepad&&) = default;
Gamepad& operator=(Gamepad&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Get the X axis value of left side of the controller. Right is positive.
*
@@ -1157,6 +1181,92 @@ class Gamepad : public GenericHID,
BooleanEvent AxisGreaterThan(Axis axis, double threshold,
EventLoop* loop) const;
/**
* Get the bitmask of axes for the gamepad.
*
* @return the number of axis for the current gamepad
*/
int GetAxesAvailable() const;
/**
* For the current gamepad, return the bitmask of available buttons.
*
* @return the bitmask of buttons for the current gamepad
*/
uint64_t GetButtonsAvailable() const;
/**
* Get if the gamepad is connected.
*
* @return true if the gamepad is connected
*/
bool IsConnected() const;
/**
* Get the type of the gamepad.
*
* @return the type of the gamepad.
*/
GenericHID::HIDType GetGamepadType() const;
/**
* Get the supported outputs for the gamepad.
*
* @return the supported outputs for the gamepad.
*/
GenericHID::SupportedOutputs GetSupportedOutputs() const;
/**
* Get the name of the gamepad.
*
* @return the name of the gamepad.
*/
std::string GetName() const;
/**
* Get the port number of the gamepad.
*
* @return The port number of the gamepad.
*/
int GetPort() const;
/**
* Set leds on the gamepad. If only mono is supported, the system will use
* the highest value passed in.
*
* @param r Red value from 0-255
* @param g Green value from 0-255
* @param b Blue value from 0-255
*/
void SetLeds(int r, int g, int b);
/**
* Set the rumble output for the HID.
*
* The DS currently supports 4 rumble values: left rumble, right rumble, left
* trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
void SetRumble(GenericHID::RumbleType type, double value);
/**
* Check if a touchpad finger is available.
* @param touchpad The touchpad to check.
* @param finger The finger to check.
* @return true if the touchpad finger is available.
*/
bool GetTouchpadFingerAvailable(int touchpad, int finger) const;
/**
* Get the touchpad finger data.
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return The touchpad finger data.
*/
TouchpadFinger GetTouchpadFinger(int touchpad, int finger) const;
void InitSendable(wpi::util::SendableBuilder& builder) override;
private:
@@ -1169,6 +1279,7 @@ class Gamepad : public GenericHID,
double m_rightYDeadband = 0.1;
double m_leftTriggerDeadband = 0.01;
double m_rightTriggerDeadband = 0.01;
GenericHID* m_hid;
};
} // namespace wpi

28
wpilibc/src/main/native/include/wpi/driverstation/GenericHID.hpp
View File

@@ -8,6 +8,7 @@
#include <string>
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/TouchpadFinger.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
@@ -16,7 +17,7 @@ namespace wpi {
class BooleanEvent;
class EventLoop;
class DriverStation;
/**
* Handle input from standard HID devices connected to the Driver Station.
*
@@ -25,8 +26,11 @@ class EventLoop;
* single class instance for each device and the mapping of ports to hardware
* buttons depends on the code in the Driver Station.
*/
class GenericHID {
class GenericHID final : public HIDDevice {
public:
friend class DriverStation;
friend class internal::DriverStationBackend;
/**
* Represents a rumble output on the Joystick.
*/
@@ -87,9 +91,24 @@ class GenericHID {
SWITCH_JOYCON_PAIR
};
explicit GenericHID(int port);
virtual ~GenericHID() = default;
~GenericHID() override = default;
/**
* Get this GenericHID object.
*
* @return this GenericHID object
*/
GenericHID& GetHID() override { return *this; }
/**
* Get this GenericHID object.
*
* @return this GenericHID object
*/
const GenericHID& GetHID() const override { return *this; }
GenericHID(const GenericHID&) = delete;
GenericHID& operator=(const GenericHID&) = delete;
GenericHID(GenericHID&&) = default;
GenericHID& operator=(GenericHID&&) = default;
@@ -389,6 +408,7 @@ class GenericHID {
TouchpadFinger GetTouchpadFinger(int touchpad, int finger) const;
private:
explicit GenericHID(int port);
int m_port;
uint16_t m_leftRumble = 0;
uint16_t m_rightRumble = 0;

31
wpilibc/src/main/native/include/wpi/driverstation/HIDDevice.hpp Normal file
View File

@@ -0,0 +1,31 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
namespace wpi {
class GenericHID;
/** Interface for device wrappers backed by a GenericHID. */
class HIDDevice {
public:
virtual ~HIDDevice() = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
virtual GenericHID& GetHID() = 0;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
virtual const GenericHID& GetHID() const = 0;
};
} // namespace wpi

74
wpilibc/src/main/native/include/wpi/driverstation/Joystick.hpp
View File

@@ -7,6 +7,7 @@
#include <array>
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/HIDDevice.hpp"
#include "wpi/units/angle.hpp"
namespace wpi {
@@ -19,7 +20,7 @@ namespace wpi {
* single class instance for each joystick and the mapping of ports to hardware
* buttons depends on the code in the Driver Station.
*/
class Joystick : public GenericHID {
class Joystick : public HIDDevice {
public:
/// Default X axis channel.
static constexpr int kDefaultXChannel = 0;
@@ -68,11 +69,32 @@ class Joystick : public GenericHID {
*/
explicit Joystick(int port);
/**
* Construct an instance of a joystick with a GenericHID object.
*
* @param hid The GenericHID object to use for this joystick.
*/
explicit Joystick(GenericHID& hid);
~Joystick() override = default;
Joystick(Joystick&&) = default;
Joystick& operator=(Joystick&&) = default;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
GenericHID& GetHID() override;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
const GenericHID& GetHID() const override;
/**
* Set the channel associated with the X axis.
*
@@ -143,6 +165,55 @@ class Joystick : public GenericHID {
*/
int GetThrottleChannel() const;
/**
* Get the button value (starting at button 1).
*
* The buttons are returned in a single 16 bit value with one bit representing
* the state of each button. The appropriate button is returned as a boolean
* value.
*
* @param button The button number to be read (starting at 1)
* @return The state of the button
*/
bool GetRawButton(int button) const;
/**
* Whether the button was pressed since the last check. Button indexes begin
* at 1.
*
* @param button The button index, beginning at 1.
* @return Whether the button was pressed since the last check.
*/
bool GetRawButtonPressed(int button);
/**
* Whether the button was released since the last check. Button indexes begin
* at 1.
*
* @param button The button index, beginning at 1.
* @return Whether the button was released since the last check.
*/
bool GetRawButtonReleased(int button);
/**
* Get the value of the axis.
*
* @param axis The axis to read, starting at 0.
* @return The value of the axis.
*/
double GetRawAxis(int axis) const;
/**
* Get the angle in degrees of a POV on the HID.
*
* The POV angles start at 0 in the up direction, and increase clockwise (e.g.
* right is 90, upper-left is 315).
*
* @param pov The index of the POV to read, starting at 0.
* @return the angle of the POV
*/
POVDirection GetPOV(int pov = 0) const;
/**
* Get the X value of the current joystick.
*
@@ -266,6 +337,7 @@ class Joystick : public GenericHID {
enum Button { kTrigger = 1, kTop = 2 };
std::array<int, Axis::kNumAxes> m_axes;
GenericHID* m_hid;
};
} // namespace wpi

20
wpilibc/src/main/native/include/wpi/driverstation/internal/DriverStationBackend.hpp
View File

@@ -24,6 +24,10 @@ namespace wpi::log {
class DataLog;
} // namespace wpi::log
namespace wpi {
class GenericHID;
} // namespace wpi
namespace wpi::util {
class Color;
} // namespace wpi::util
@@ -41,6 +45,22 @@ class DriverStationBackend final {
/// Number of Joystick ports.
static constexpr int JOYSTICK_PORTS = 6;
/**
* Constructs a GenericHID for the given port.
*
* @param port The port index on the Driver Station.
* @return The GenericHID object for the given port.
*/
static GenericHID ConstructGenericHID(int port);
/**
* Resets cached DriverStation HID wrapper objects.
*
* This is intended for test cleanup only. Any existing references to cached
* GenericHID or Gamepad objects become invalid after this call.
*/
static void ResetCachedHIDData();
/**
* The state of one joystick button. Button indexes begin at 0.
*

1
wpilibc/src/main/python/pyproject.toml
View File

@@ -119,6 +119,7 @@ RobotState = "wpi/driverstation/RobotState.hpp"
TouchpadFinger = "wpi/driverstation/TouchpadFinger.hpp"
Gamepad = "wpi/driverstation/Gamepad.hpp"
GenericHID = "wpi/driverstation/GenericHID.hpp"
HIDDevice = "wpi/driverstation/HIDDevice.hpp"
Joystick = "wpi/driverstation/Joystick.hpp"
NiDsPS4Controller = "wpi/driverstation/NiDsPS4Controller.hpp"
NiDsPS5Controller = "wpi/driverstation/NiDsPS5Controller.hpp"

6
wpilibc/src/main/python/semiwrap/DriverStation.yml
View File

@@ -1,9 +1,15 @@
extra_includes:
- wpi/datalog/DataLog.hpp
- wpi/driverstation/Gamepad.hpp
- wpi/driverstation/GenericHID.hpp
classes:
wpi::DriverStation:
methods:
GetGenericHID:
return_value_policy: reference_internal
GetGamepad:
return_value_policy: reference_internal
ProvideRefreshedDataEventHandle:
RemoveRefreshedDataEventHandle:
StartDataLog:

3
wpilibc/src/main/python/semiwrap/DriverStationBackend.yml
View File

@@ -1,5 +1,6 @@
extra_includes:
- wpi/datalog/DataLog.hpp
- wpi/driverstation/GenericHID.hpp
- wpi/util/Color.hpp
classes:
@@ -7,6 +8,8 @@ classes:
attributes:
JOYSTICK_PORTS:
methods:
ConstructGenericHID:
ResetCachedHIDData:
GetStickButton:
GetStickButtonIfAvailable:
GetStickButtonPressed:

25
wpilibc/src/main/python/semiwrap/Gamepad.yml
View File

@@ -1,5 +1,10 @@
extra_includes:
- wpi/util/sendable/SendableBuilder.hpp
- wpi/event/BooleanEvent.hpp
classes:
wpi::Gamepad:
force_no_trampoline: true
ignored_bases:
- wpi::util::SendableHelper<Gamepad>
enums:
@@ -7,6 +12,15 @@ classes:
Axis:
methods:
Gamepad:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
GetLeftX:
SetLeftXDeadband:
GetLeftY:
@@ -139,4 +153,15 @@ classes:
GetAxis:
AxisLessThan:
AxisGreaterThan:
GetAxesAvailable:
GetButtonsAvailable:
IsConnected:
GetGamepadType:
GetSupportedOutputs:
GetName:
GetPort:
SetLeds:
SetRumble:
GetTouchpadFingerAvailable:
GetTouchpadFinger:
InitSendable:

9
wpilibc/src/main/python/semiwrap/GenericHID.yml
View File

@@ -1,16 +1,15 @@
extra_includes:
- wpi/driverstation/internal/DriverStationBackend.hpp
- wpi/event/BooleanEvent.hpp
classes:
wpi::GenericHID:
force_no_trampoline: true
enums:
RumbleType:
SupportedOutputs:
arithmetic: true
HIDType:
methods:
GenericHID:
GetRawButton:
GetRawButtonPressed:
GetRawButtonReleased:
@@ -47,6 +46,12 @@ classes:
GetButtonsAvailable:
GetTouchpadFingerAvailable:
GetTouchpadFinger:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
inline_code: |
cls_GenericHID
.def("__repr__", [](py::handle self) {

14
wpilibc/src/main/python/semiwrap/HIDDevice.yml Normal file
View File

@@ -0,0 +1,14 @@
extra_includes:
- wpi/driverstation/GenericHID.hpp
classes:
wpi::HIDDevice:
force_no_trampoline: true
force_no_default_constructor: true
methods:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true

17
wpilibc/src/main/python/semiwrap/Joystick.yml
View File

@@ -1,8 +1,9 @@
extra_includes:
- wpi/driverstation/internal/DriverStationBackend.hpp
- wpi/event/BooleanEvent.hpp
classes:
wpi::Joystick:
force_no_trampoline: true
attributes:
kDefaultXChannel:
kDefaultYChannel:
@@ -14,6 +15,15 @@ classes:
ButtonType:
methods:
Joystick:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
SetXChannel:
SetYChannel:
SetZChannel:
@@ -40,6 +50,11 @@ classes:
GetMagnitude:
GetDirection:
rename: getDirectionRadians
GetRawButton:
GetRawButtonPressed:
GetRawButtonReleased:
GetRawAxis:
GetPOV:
inline_code: |
.def("getDirectionDegrees", [](const Joystick &self) -> wpi::units::degree_t {
return self.GetDirection();

16
wpilibc/src/main/python/semiwrap/NiDsPS4Controller.yml
View File

@@ -4,10 +4,20 @@ extra_includes:
classes:
wpi::NiDsPS4Controller:
force_no_trampoline: true
ignored_bases:
- wpi::util::SendableHelper<NiDsPS4Controller>
methods:
NiDsPS4Controller:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
GetLeftX:
GetRightX:
GetLeftY:
@@ -70,6 +80,12 @@ classes:
GetTouchpadButton:
GetTouchpadButtonPressed:
GetTouchpadButtonReleased:
IsConnected:
GetGamepadType:
GetSupportedOutputs:
GetName:
GetPort:
SetRumble:
InitSendable:
wpi::NiDsPS4Controller::Button:
attributes:

17
wpilibc/src/main/python/semiwrap/NiDsPS5Controller.yml
View File

@@ -1,12 +1,23 @@
extra_includes:
- wpi/util/sendable/SendableBuilder.hpp
- wpi/event/BooleanEvent.hpp
classes:
wpi::NiDsPS5Controller:
force_no_trampoline: true
ignored_bases:
- wpi::util::SendableHelper<NiDsPS5Controller>
methods:
NiDsPS5Controller:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
GetLeftX:
GetRightX:
GetLeftY:
@@ -69,6 +80,12 @@ classes:
GetTouchpadButton:
GetTouchpadButtonPressed:
GetTouchpadButtonReleased:
IsConnected:
GetGamepadType:
GetSupportedOutputs:
GetName:
GetPort:
SetRumble:
InitSendable:
wpi::NiDsPS5Controller::Button:
attributes:

17
wpilibc/src/main/python/semiwrap/NiDsStadiaController.yml
View File

@@ -1,12 +1,23 @@
extra_includes:
- wpi/util/sendable/SendableBuilder.hpp
- wpi/event/BooleanEvent.hpp
classes:
wpi::NiDsStadiaController:
force_no_trampoline: true
ignored_bases:
- wpi::util::SendableHelper<NiDsStadiaController>
methods:
NiDsStadiaController:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
GetLeftX:
GetRightX:
GetLeftY:
@@ -71,6 +82,12 @@ classes:
GetRightBumperButton:
GetRightBumperButtonPressed:
GetRightBumperButtonReleased:
IsConnected:
GetGamepadType:
GetSupportedOutputs:
GetName:
GetPort:
SetRumble:
InitSendable:
wpi::NiDsStadiaController::Button:
attributes:

16
wpilibc/src/main/python/semiwrap/NiDsXboxController.yml
View File

@@ -5,10 +5,20 @@ extra_includes:
classes:
wpi::NiDsXboxController:
force_no_trampoline: true
ignored_bases:
- wpi::util::SendableHelper<NiDsXboxController>
methods:
NiDsXboxController:
overloads:
int:
GenericHID&:
GetHID:
overloads:
"":
return_value_policy: reference_internal
'[const]':
ignore: true
GetLeftX:
GetRightX:
GetLeftY:
@@ -63,6 +73,12 @@ classes:
GetRightBumperButton:
GetRightBumperButtonPressed:
GetRightBumperButtonReleased:
IsConnected:
GetGamepadType:
GetSupportedOutputs:
GetName:
GetPort:
SetRumble:
InitSendable:
wpi::NiDsXboxController::Button:
attributes:

7
wpilibc/src/main/python/wpilib/testing/pytest_plugin.py
View File

@@ -16,8 +16,10 @@ import wpilib.simulation
# TODO: get rid of special-casing.. maybe should register a HAL shutdown hook or something
try:
import commands2
from commands2.button.commandgenerichid import _resetCommandGenericHIDData
except ImportError:
commands2 = None
_resetCommandGenericHIDData = None
from .controller import RobotTestController
@@ -98,10 +100,15 @@ class RobotTestingPlugin:
if commands2 is not None:
commands2.CommandScheduler.resetInstance()
_resetCommandGenericHIDData()
# Double-check all objects are destroyed so that HAL handles are released
gc.collect()
# Reset DriverStation cached HID wrapper objects after user and command
# references have had a chance to be released.
wpilib.DriverStationBackend.resetCachedHIDData()
# shutdown networktables before other kinds of global cleanup
# -> some reset functions will re-register listeners, so it's important
# to do this before so that the listeners are active on the current

14
wpilibc/src/test/native/cpp/DriverStationTest.cpp
View File

@@ -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(

5
wpilibc/src/test/native/cpp/GenericHIDTest.cpp
View File

@@ -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

67
wpilibc/src/test/python/test_generic_hid.py Normal file
View File

@@ -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

104
wpilibj/src/generate/main/java/hid.java.jinja
View File

@@ -8,6 +8,11 @@
{%- endmacro %}
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -25,7 +30,7 @@ import org.wpilib.util.sendable.SendableBuilder;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
public class {{ ConsoleName }}Controller implements HIDDevice, Sendable {
/** Represents a digital button on a {{ ConsoleName }}Controller. */
public enum Button {
{%- for button in buttons %}
@@ -91,14 +96,35 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
}
}
private final GenericHID m_hid;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
*/
public {{ ConsoleName }}Controller(final int port) {
super(port);
HAL.reportUsage("HID", port, "{{ ConsoleName }}Controller");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
public {{ ConsoleName }}Controller(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "{{ ConsoleName }}Controller");
}
{% for stick in sticks %}
/**
@@ -107,7 +133,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* @return The axis value.
*/
public double get{{ stick.NameParts|map("capitalize")|join }}() {
return getRawAxis(Axis.k{{ stick.NameParts|map("capitalize")|join }}.value);
return m_hid.getRawAxis(Axis.k{{ stick.NameParts|map("capitalize")|join }}.value);
}
{% endfor -%}
{% for trigger in triggers %}
@@ -118,7 +144,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* @return The axis value.
*/
public double get{{ capitalize_first(trigger.name) }}Axis() {
return getRawAxis(Axis.k{{ capitalize_first(trigger.name) }}.value);
return m_hid.getRawAxis(Axis.k{{ capitalize_first(trigger.name) }}.value);
}
{% if trigger.UseThresholdMethods %}
/**
@@ -132,7 +158,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* threshold, attached to the given event loop
*/
public BooleanEvent {{ trigger.name }}(double threshold, EventLoop loop) {
return axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
return m_hid.axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
}
/**
@@ -155,7 +181,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* @return The state of the button.
*/
public boolean get{{ capitalize_first(button.name) }}Button() {
return getRawButton(Button.k{{ capitalize_first(button.name) }}.value);
return m_hid.getRawButton(Button.k{{ capitalize_first(button.name) }}.value);
}
/**
@@ -164,7 +190,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* @return Whether the button was pressed since the last check.
*/
public boolean get{{ capitalize_first(button.name) }}ButtonPressed() {
return getRawButtonPressed(Button.k{{ capitalize_first(button.name) }}.value);
return m_hid.getRawButtonPressed(Button.k{{ capitalize_first(button.name) }}.value);
}
/**
@@ -173,7 +199,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* @return Whether the button was released since the last check.
*/
public boolean get{{ capitalize_first(button.name) }}ButtonReleased() {
return getRawButtonReleased(Button.k{{ capitalize_first(button.name) }}.value);
return m_hid.getRawButtonReleased(Button.k{{ capitalize_first(button.name) }}.value);
}
/**
@@ -184,9 +210,67 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
* attached to the given loop.
*/
public BooleanEvent {{ button.name }}(EventLoop loop) {
return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
return m_hid.button(Button.k{{ capitalize_first(button.name) }}.value, loop);
}
{% endfor %}
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
public String getName() {
return m_hid.getName();
}
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
public int getPort() {
return m_hid.getPort();
}
/**
* Set the rumble output for the HID.
*
* <p>The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble,
* and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

2
wpilibj/src/generate/main/java/hidsim.java.jinja
View File

@@ -19,7 +19,7 @@ public class {{ ConsoleName }}ControllerSim extends GenericHIDSim {
*/
@SuppressWarnings("this-escape")
public {{ ConsoleName }}ControllerSim({{ ConsoleName }}Controller joystick) {
super(joystick);
super(joystick.getHID());
setAxesMaximumIndex({{ sticks|length + triggers|length }});
setButtonsMaximumIndex({{ buttons|length }});
setPOVsMaximumIndex(1);

214
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS4Controller.java generated
View File

@@ -6,6 +6,11 @@
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -23,7 +28,7 @@ import org.wpilib.util.sendable.SendableBuilder;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class NiDsPS4Controller extends GenericHID implements Sendable {
public class NiDsPS4Controller implements HIDDevice, Sendable {
/** Represents a digital button on a NiDsPS4Controller. */
public enum Button {
/** Square button. */
@@ -117,14 +122,35 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
}
}
private final GenericHID m_hid;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
*/
public NiDsPS4Controller(final int port) {
super(port);
HAL.reportUsage("HID", port, "NiDsPS4Controller");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
public NiDsPS4Controller(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "NiDsPS4Controller");
}
/**
@@ -133,7 +159,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftX() {
return getRawAxis(Axis.kLeftX.value);
return m_hid.getRawAxis(Axis.kLeftX.value);
}
/**
@@ -142,7 +168,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftY() {
return getRawAxis(Axis.kLeftY.value);
return m_hid.getRawAxis(Axis.kLeftY.value);
}
/**
@@ -151,7 +177,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightX() {
return getRawAxis(Axis.kRightX.value);
return m_hid.getRawAxis(Axis.kRightX.value);
}
/**
@@ -160,7 +186,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightY() {
return getRawAxis(Axis.kRightY.value);
return m_hid.getRawAxis(Axis.kRightY.value);
}
/**
@@ -170,7 +196,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getL2Axis() {
return getRawAxis(Axis.kL2.value);
return m_hid.getRawAxis(Axis.kL2.value);
}
/**
@@ -180,7 +206,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getR2Axis() {
return getRawAxis(Axis.kR2.value);
return m_hid.getRawAxis(Axis.kR2.value);
}
/**
@@ -189,7 +215,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getSquareButton() {
return getRawButton(Button.kSquare.value);
return m_hid.getRawButton(Button.kSquare.value);
}
/**
@@ -198,7 +224,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getSquareButtonPressed() {
return getRawButtonPressed(Button.kSquare.value);
return m_hid.getRawButtonPressed(Button.kSquare.value);
}
/**
@@ -207,7 +233,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getSquareButtonReleased() {
return getRawButtonReleased(Button.kSquare.value);
return m_hid.getRawButtonReleased(Button.kSquare.value);
}
/**
@@ -218,7 +244,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent square(EventLoop loop) {
return button(Button.kSquare.value, loop);
return m_hid.button(Button.kSquare.value, loop);
}
/**
@@ -227,7 +253,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getCrossButton() {
return getRawButton(Button.kCross.value);
return m_hid.getRawButton(Button.kCross.value);
}
/**
@@ -236,7 +262,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getCrossButtonPressed() {
return getRawButtonPressed(Button.kCross.value);
return m_hid.getRawButtonPressed(Button.kCross.value);
}
/**
@@ -245,7 +271,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getCrossButtonReleased() {
return getRawButtonReleased(Button.kCross.value);
return m_hid.getRawButtonReleased(Button.kCross.value);
}
/**
@@ -256,7 +282,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent cross(EventLoop loop) {
return button(Button.kCross.value, loop);
return m_hid.button(Button.kCross.value, loop);
}
/**
@@ -265,7 +291,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getCircleButton() {
return getRawButton(Button.kCircle.value);
return m_hid.getRawButton(Button.kCircle.value);
}
/**
@@ -274,7 +300,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getCircleButtonPressed() {
return getRawButtonPressed(Button.kCircle.value);
return m_hid.getRawButtonPressed(Button.kCircle.value);
}
/**
@@ -283,7 +309,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getCircleButtonReleased() {
return getRawButtonReleased(Button.kCircle.value);
return m_hid.getRawButtonReleased(Button.kCircle.value);
}
/**
@@ -294,7 +320,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent circle(EventLoop loop) {
return button(Button.kCircle.value, loop);
return m_hid.button(Button.kCircle.value, loop);
}
/**
@@ -303,7 +329,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getTriangleButton() {
return getRawButton(Button.kTriangle.value);
return m_hid.getRawButton(Button.kTriangle.value);
}
/**
@@ -312,7 +338,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getTriangleButtonPressed() {
return getRawButtonPressed(Button.kTriangle.value);
return m_hid.getRawButtonPressed(Button.kTriangle.value);
}
/**
@@ -321,7 +347,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getTriangleButtonReleased() {
return getRawButtonReleased(Button.kTriangle.value);
return m_hid.getRawButtonReleased(Button.kTriangle.value);
}
/**
@@ -332,7 +358,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent triangle(EventLoop loop) {
return button(Button.kTriangle.value, loop);
return m_hid.button(Button.kTriangle.value, loop);
}
/**
@@ -341,7 +367,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL1Button() {
return getRawButton(Button.kL1.value);
return m_hid.getRawButton(Button.kL1.value);
}
/**
@@ -350,7 +376,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL1ButtonPressed() {
return getRawButtonPressed(Button.kL1.value);
return m_hid.getRawButtonPressed(Button.kL1.value);
}
/**
@@ -359,7 +385,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL1ButtonReleased() {
return getRawButtonReleased(Button.kL1.value);
return m_hid.getRawButtonReleased(Button.kL1.value);
}
/**
@@ -370,7 +396,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L1(EventLoop loop) {
return button(Button.kL1.value, loop);
return m_hid.button(Button.kL1.value, loop);
}
/**
@@ -379,7 +405,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR1Button() {
return getRawButton(Button.kR1.value);
return m_hid.getRawButton(Button.kR1.value);
}
/**
@@ -388,7 +414,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR1ButtonPressed() {
return getRawButtonPressed(Button.kR1.value);
return m_hid.getRawButtonPressed(Button.kR1.value);
}
/**
@@ -397,7 +423,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR1ButtonReleased() {
return getRawButtonReleased(Button.kR1.value);
return m_hid.getRawButtonReleased(Button.kR1.value);
}
/**
@@ -408,7 +434,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R1(EventLoop loop) {
return button(Button.kR1.value, loop);
return m_hid.button(Button.kR1.value, loop);
}
/**
@@ -417,7 +443,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL2Button() {
return getRawButton(Button.kL2.value);
return m_hid.getRawButton(Button.kL2.value);
}
/**
@@ -426,7 +452,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL2ButtonPressed() {
return getRawButtonPressed(Button.kL2.value);
return m_hid.getRawButtonPressed(Button.kL2.value);
}
/**
@@ -435,7 +461,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL2ButtonReleased() {
return getRawButtonReleased(Button.kL2.value);
return m_hid.getRawButtonReleased(Button.kL2.value);
}
/**
@@ -446,7 +472,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L2(EventLoop loop) {
return button(Button.kL2.value, loop);
return m_hid.button(Button.kL2.value, loop);
}
/**
@@ -455,7 +481,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR2Button() {
return getRawButton(Button.kR2.value);
return m_hid.getRawButton(Button.kR2.value);
}
/**
@@ -464,7 +490,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR2ButtonPressed() {
return getRawButtonPressed(Button.kR2.value);
return m_hid.getRawButtonPressed(Button.kR2.value);
}
/**
@@ -473,7 +499,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR2ButtonReleased() {
return getRawButtonReleased(Button.kR2.value);
return m_hid.getRawButtonReleased(Button.kR2.value);
}
/**
@@ -484,7 +510,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R2(EventLoop loop) {
return button(Button.kR2.value, loop);
return m_hid.button(Button.kR2.value, loop);
}
/**
@@ -493,7 +519,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getShareButton() {
return getRawButton(Button.kShare.value);
return m_hid.getRawButton(Button.kShare.value);
}
/**
@@ -502,7 +528,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getShareButtonPressed() {
return getRawButtonPressed(Button.kShare.value);
return m_hid.getRawButtonPressed(Button.kShare.value);
}
/**
@@ -511,7 +537,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getShareButtonReleased() {
return getRawButtonReleased(Button.kShare.value);
return m_hid.getRawButtonReleased(Button.kShare.value);
}
/**
@@ -522,7 +548,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent share(EventLoop loop) {
return button(Button.kShare.value, loop);
return m_hid.button(Button.kShare.value, loop);
}
/**
@@ -531,7 +557,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getOptionsButton() {
return getRawButton(Button.kOptions.value);
return m_hid.getRawButton(Button.kOptions.value);
}
/**
@@ -540,7 +566,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getOptionsButtonPressed() {
return getRawButtonPressed(Button.kOptions.value);
return m_hid.getRawButtonPressed(Button.kOptions.value);
}
/**
@@ -549,7 +575,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getOptionsButtonReleased() {
return getRawButtonReleased(Button.kOptions.value);
return m_hid.getRawButtonReleased(Button.kOptions.value);
}
/**
@@ -560,7 +586,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent options(EventLoop loop) {
return button(Button.kOptions.value, loop);
return m_hid.button(Button.kOptions.value, loop);
}
/**
@@ -569,7 +595,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL3Button() {
return getRawButton(Button.kL3.value);
return m_hid.getRawButton(Button.kL3.value);
}
/**
@@ -578,7 +604,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL3ButtonPressed() {
return getRawButtonPressed(Button.kL3.value);
return m_hid.getRawButtonPressed(Button.kL3.value);
}
/**
@@ -587,7 +613,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL3ButtonReleased() {
return getRawButtonReleased(Button.kL3.value);
return m_hid.getRawButtonReleased(Button.kL3.value);
}
/**
@@ -598,7 +624,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L3(EventLoop loop) {
return button(Button.kL3.value, loop);
return m_hid.button(Button.kL3.value, loop);
}
/**
@@ -607,7 +633,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR3Button() {
return getRawButton(Button.kR3.value);
return m_hid.getRawButton(Button.kR3.value);
}
/**
@@ -616,7 +642,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR3ButtonPressed() {
return getRawButtonPressed(Button.kR3.value);
return m_hid.getRawButtonPressed(Button.kR3.value);
}
/**
@@ -625,7 +651,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR3ButtonReleased() {
return getRawButtonReleased(Button.kR3.value);
return m_hid.getRawButtonReleased(Button.kR3.value);
}
/**
@@ -636,7 +662,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R3(EventLoop loop) {
return button(Button.kR3.value, loop);
return m_hid.button(Button.kR3.value, loop);
}
/**
@@ -645,7 +671,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getPSButton() {
return getRawButton(Button.kPS.value);
return m_hid.getRawButton(Button.kPS.value);
}
/**
@@ -654,7 +680,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getPSButtonPressed() {
return getRawButtonPressed(Button.kPS.value);
return m_hid.getRawButtonPressed(Button.kPS.value);
}
/**
@@ -663,7 +689,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getPSButtonReleased() {
return getRawButtonReleased(Button.kPS.value);
return m_hid.getRawButtonReleased(Button.kPS.value);
}
/**
@@ -674,7 +700,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent PS(EventLoop loop) {
return button(Button.kPS.value, loop);
return m_hid.button(Button.kPS.value, loop);
}
/**
@@ -683,7 +709,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getTouchpadButton() {
return getRawButton(Button.kTouchpad.value);
return m_hid.getRawButton(Button.kTouchpad.value);
}
/**
@@ -692,7 +718,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getTouchpadButtonPressed() {
return getRawButtonPressed(Button.kTouchpad.value);
return m_hid.getRawButtonPressed(Button.kTouchpad.value);
}
/**
@@ -701,7 +727,7 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getTouchpadButtonReleased() {
return getRawButtonReleased(Button.kTouchpad.value);
return m_hid.getRawButtonReleased(Button.kTouchpad.value);
}
/**
@@ -712,7 +738,65 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent touchpad(EventLoop loop) {
return button(Button.kTouchpad.value, loop);
return m_hid.button(Button.kTouchpad.value, loop);
}
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
public String getName() {
return m_hid.getName();
}
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
public int getPort() {
return m_hid.getPort();
}
/**
* Set the rumble output for the HID.
*
* <p>The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble,
* and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
@Override

214
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS5Controller.java generated
View File

@@ -6,6 +6,11 @@
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -23,7 +28,7 @@ import org.wpilib.util.sendable.SendableBuilder;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class NiDsPS5Controller extends GenericHID implements Sendable {
public class NiDsPS5Controller implements HIDDevice, Sendable {
/** Represents a digital button on a NiDsPS5Controller. */
public enum Button {
/** Square button. */
@@ -117,14 +122,35 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
}
}
private final GenericHID m_hid;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
*/
public NiDsPS5Controller(final int port) {
super(port);
HAL.reportUsage("HID", port, "NiDsPS5Controller");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
public NiDsPS5Controller(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "NiDsPS5Controller");
}
/**
@@ -133,7 +159,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftX() {
return getRawAxis(Axis.kLeftX.value);
return m_hid.getRawAxis(Axis.kLeftX.value);
}
/**
@@ -142,7 +168,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftY() {
return getRawAxis(Axis.kLeftY.value);
return m_hid.getRawAxis(Axis.kLeftY.value);
}
/**
@@ -151,7 +177,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightX() {
return getRawAxis(Axis.kRightX.value);
return m_hid.getRawAxis(Axis.kRightX.value);
}
/**
@@ -160,7 +186,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightY() {
return getRawAxis(Axis.kRightY.value);
return m_hid.getRawAxis(Axis.kRightY.value);
}
/**
@@ -170,7 +196,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getL2Axis() {
return getRawAxis(Axis.kL2.value);
return m_hid.getRawAxis(Axis.kL2.value);
}
/**
@@ -180,7 +206,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getR2Axis() {
return getRawAxis(Axis.kR2.value);
return m_hid.getRawAxis(Axis.kR2.value);
}
/**
@@ -189,7 +215,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getSquareButton() {
return getRawButton(Button.kSquare.value);
return m_hid.getRawButton(Button.kSquare.value);
}
/**
@@ -198,7 +224,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getSquareButtonPressed() {
return getRawButtonPressed(Button.kSquare.value);
return m_hid.getRawButtonPressed(Button.kSquare.value);
}
/**
@@ -207,7 +233,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getSquareButtonReleased() {
return getRawButtonReleased(Button.kSquare.value);
return m_hid.getRawButtonReleased(Button.kSquare.value);
}
/**
@@ -218,7 +244,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent square(EventLoop loop) {
return button(Button.kSquare.value, loop);
return m_hid.button(Button.kSquare.value, loop);
}
/**
@@ -227,7 +253,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getCrossButton() {
return getRawButton(Button.kCross.value);
return m_hid.getRawButton(Button.kCross.value);
}
/**
@@ -236,7 +262,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getCrossButtonPressed() {
return getRawButtonPressed(Button.kCross.value);
return m_hid.getRawButtonPressed(Button.kCross.value);
}
/**
@@ -245,7 +271,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getCrossButtonReleased() {
return getRawButtonReleased(Button.kCross.value);
return m_hid.getRawButtonReleased(Button.kCross.value);
}
/**
@@ -256,7 +282,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent cross(EventLoop loop) {
return button(Button.kCross.value, loop);
return m_hid.button(Button.kCross.value, loop);
}
/**
@@ -265,7 +291,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getCircleButton() {
return getRawButton(Button.kCircle.value);
return m_hid.getRawButton(Button.kCircle.value);
}
/**
@@ -274,7 +300,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getCircleButtonPressed() {
return getRawButtonPressed(Button.kCircle.value);
return m_hid.getRawButtonPressed(Button.kCircle.value);
}
/**
@@ -283,7 +309,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getCircleButtonReleased() {
return getRawButtonReleased(Button.kCircle.value);
return m_hid.getRawButtonReleased(Button.kCircle.value);
}
/**
@@ -294,7 +320,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent circle(EventLoop loop) {
return button(Button.kCircle.value, loop);
return m_hid.button(Button.kCircle.value, loop);
}
/**
@@ -303,7 +329,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getTriangleButton() {
return getRawButton(Button.kTriangle.value);
return m_hid.getRawButton(Button.kTriangle.value);
}
/**
@@ -312,7 +338,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getTriangleButtonPressed() {
return getRawButtonPressed(Button.kTriangle.value);
return m_hid.getRawButtonPressed(Button.kTriangle.value);
}
/**
@@ -321,7 +347,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getTriangleButtonReleased() {
return getRawButtonReleased(Button.kTriangle.value);
return m_hid.getRawButtonReleased(Button.kTriangle.value);
}
/**
@@ -332,7 +358,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent triangle(EventLoop loop) {
return button(Button.kTriangle.value, loop);
return m_hid.button(Button.kTriangle.value, loop);
}
/**
@@ -341,7 +367,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL1Button() {
return getRawButton(Button.kL1.value);
return m_hid.getRawButton(Button.kL1.value);
}
/**
@@ -350,7 +376,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL1ButtonPressed() {
return getRawButtonPressed(Button.kL1.value);
return m_hid.getRawButtonPressed(Button.kL1.value);
}
/**
@@ -359,7 +385,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL1ButtonReleased() {
return getRawButtonReleased(Button.kL1.value);
return m_hid.getRawButtonReleased(Button.kL1.value);
}
/**
@@ -370,7 +396,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L1(EventLoop loop) {
return button(Button.kL1.value, loop);
return m_hid.button(Button.kL1.value, loop);
}
/**
@@ -379,7 +405,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR1Button() {
return getRawButton(Button.kR1.value);
return m_hid.getRawButton(Button.kR1.value);
}
/**
@@ -388,7 +414,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR1ButtonPressed() {
return getRawButtonPressed(Button.kR1.value);
return m_hid.getRawButtonPressed(Button.kR1.value);
}
/**
@@ -397,7 +423,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR1ButtonReleased() {
return getRawButtonReleased(Button.kR1.value);
return m_hid.getRawButtonReleased(Button.kR1.value);
}
/**
@@ -408,7 +434,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R1(EventLoop loop) {
return button(Button.kR1.value, loop);
return m_hid.button(Button.kR1.value, loop);
}
/**
@@ -417,7 +443,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL2Button() {
return getRawButton(Button.kL2.value);
return m_hid.getRawButton(Button.kL2.value);
}
/**
@@ -426,7 +452,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL2ButtonPressed() {
return getRawButtonPressed(Button.kL2.value);
return m_hid.getRawButtonPressed(Button.kL2.value);
}
/**
@@ -435,7 +461,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL2ButtonReleased() {
return getRawButtonReleased(Button.kL2.value);
return m_hid.getRawButtonReleased(Button.kL2.value);
}
/**
@@ -446,7 +472,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L2(EventLoop loop) {
return button(Button.kL2.value, loop);
return m_hid.button(Button.kL2.value, loop);
}
/**
@@ -455,7 +481,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR2Button() {
return getRawButton(Button.kR2.value);
return m_hid.getRawButton(Button.kR2.value);
}
/**
@@ -464,7 +490,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR2ButtonPressed() {
return getRawButtonPressed(Button.kR2.value);
return m_hid.getRawButtonPressed(Button.kR2.value);
}
/**
@@ -473,7 +499,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR2ButtonReleased() {
return getRawButtonReleased(Button.kR2.value);
return m_hid.getRawButtonReleased(Button.kR2.value);
}
/**
@@ -484,7 +510,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R2(EventLoop loop) {
return button(Button.kR2.value, loop);
return m_hid.button(Button.kR2.value, loop);
}
/**
@@ -493,7 +519,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getCreateButton() {
return getRawButton(Button.kCreate.value);
return m_hid.getRawButton(Button.kCreate.value);
}
/**
@@ -502,7 +528,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getCreateButtonPressed() {
return getRawButtonPressed(Button.kCreate.value);
return m_hid.getRawButtonPressed(Button.kCreate.value);
}
/**
@@ -511,7 +537,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getCreateButtonReleased() {
return getRawButtonReleased(Button.kCreate.value);
return m_hid.getRawButtonReleased(Button.kCreate.value);
}
/**
@@ -522,7 +548,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent create(EventLoop loop) {
return button(Button.kCreate.value, loop);
return m_hid.button(Button.kCreate.value, loop);
}
/**
@@ -531,7 +557,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getOptionsButton() {
return getRawButton(Button.kOptions.value);
return m_hid.getRawButton(Button.kOptions.value);
}
/**
@@ -540,7 +566,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getOptionsButtonPressed() {
return getRawButtonPressed(Button.kOptions.value);
return m_hid.getRawButtonPressed(Button.kOptions.value);
}
/**
@@ -549,7 +575,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getOptionsButtonReleased() {
return getRawButtonReleased(Button.kOptions.value);
return m_hid.getRawButtonReleased(Button.kOptions.value);
}
/**
@@ -560,7 +586,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent options(EventLoop loop) {
return button(Button.kOptions.value, loop);
return m_hid.button(Button.kOptions.value, loop);
}
/**
@@ -569,7 +595,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getL3Button() {
return getRawButton(Button.kL3.value);
return m_hid.getRawButton(Button.kL3.value);
}
/**
@@ -578,7 +604,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getL3ButtonPressed() {
return getRawButtonPressed(Button.kL3.value);
return m_hid.getRawButtonPressed(Button.kL3.value);
}
/**
@@ -587,7 +613,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getL3ButtonReleased() {
return getRawButtonReleased(Button.kL3.value);
return m_hid.getRawButtonReleased(Button.kL3.value);
}
/**
@@ -598,7 +624,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent L3(EventLoop loop) {
return button(Button.kL3.value, loop);
return m_hid.button(Button.kL3.value, loop);
}
/**
@@ -607,7 +633,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getR3Button() {
return getRawButton(Button.kR3.value);
return m_hid.getRawButton(Button.kR3.value);
}
/**
@@ -616,7 +642,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getR3ButtonPressed() {
return getRawButtonPressed(Button.kR3.value);
return m_hid.getRawButtonPressed(Button.kR3.value);
}
/**
@@ -625,7 +651,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getR3ButtonReleased() {
return getRawButtonReleased(Button.kR3.value);
return m_hid.getRawButtonReleased(Button.kR3.value);
}
/**
@@ -636,7 +662,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent R3(EventLoop loop) {
return button(Button.kR3.value, loop);
return m_hid.button(Button.kR3.value, loop);
}
/**
@@ -645,7 +671,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getPSButton() {
return getRawButton(Button.kPS.value);
return m_hid.getRawButton(Button.kPS.value);
}
/**
@@ -654,7 +680,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getPSButtonPressed() {
return getRawButtonPressed(Button.kPS.value);
return m_hid.getRawButtonPressed(Button.kPS.value);
}
/**
@@ -663,7 +689,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getPSButtonReleased() {
return getRawButtonReleased(Button.kPS.value);
return m_hid.getRawButtonReleased(Button.kPS.value);
}
/**
@@ -674,7 +700,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent PS(EventLoop loop) {
return button(Button.kPS.value, loop);
return m_hid.button(Button.kPS.value, loop);
}
/**
@@ -683,7 +709,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getTouchpadButton() {
return getRawButton(Button.kTouchpad.value);
return m_hid.getRawButton(Button.kTouchpad.value);
}
/**
@@ -692,7 +718,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getTouchpadButtonPressed() {
return getRawButtonPressed(Button.kTouchpad.value);
return m_hid.getRawButtonPressed(Button.kTouchpad.value);
}
/**
@@ -701,7 +727,7 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getTouchpadButtonReleased() {
return getRawButtonReleased(Button.kTouchpad.value);
return m_hid.getRawButtonReleased(Button.kTouchpad.value);
}
/**
@@ -712,7 +738,65 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent touchpad(EventLoop loop) {
return button(Button.kTouchpad.value, loop);
return m_hid.button(Button.kTouchpad.value, loop);
}
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
public String getName() {
return m_hid.getName();
}
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
public int getPort() {
return m_hid.getPort();
}
/**
* Set the rumble output for the HID.
*
* <p>The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble,
* and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
@Override

218
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsStadiaController.java generated
View File

@@ -6,6 +6,11 @@
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -23,7 +28,7 @@ import org.wpilib.util.sendable.SendableBuilder;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class NiDsStadiaController extends GenericHID implements Sendable {
public class NiDsStadiaController implements HIDDevice, Sendable {
/** Represents a digital button on a NiDsStadiaController. */
public enum Button {
/** A button. */
@@ -115,14 +120,35 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
}
}
private final GenericHID m_hid;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
*/
public NiDsStadiaController(final int port) {
super(port);
HAL.reportUsage("HID", port, "NiDsStadiaController");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
public NiDsStadiaController(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "NiDsStadiaController");
}
/**
@@ -131,7 +157,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftX() {
return getRawAxis(Axis.kLeftX.value);
return m_hid.getRawAxis(Axis.kLeftX.value);
}
/**
@@ -140,7 +166,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightX() {
return getRawAxis(Axis.kRightX.value);
return m_hid.getRawAxis(Axis.kRightX.value);
}
/**
@@ -149,7 +175,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftY() {
return getRawAxis(Axis.kLeftY.value);
return m_hid.getRawAxis(Axis.kLeftY.value);
}
/**
@@ -158,7 +184,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightY() {
return getRawAxis(Axis.kRightY.value);
return m_hid.getRawAxis(Axis.kRightY.value);
}
/**
@@ -167,7 +193,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getAButton() {
return getRawButton(Button.kA.value);
return m_hid.getRawButton(Button.kA.value);
}
/**
@@ -176,7 +202,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getAButtonPressed() {
return getRawButtonPressed(Button.kA.value);
return m_hid.getRawButtonPressed(Button.kA.value);
}
/**
@@ -185,7 +211,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getAButtonReleased() {
return getRawButtonReleased(Button.kA.value);
return m_hid.getRawButtonReleased(Button.kA.value);
}
/**
@@ -196,7 +222,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent a(EventLoop loop) {
return button(Button.kA.value, loop);
return m_hid.button(Button.kA.value, loop);
}
/**
@@ -205,7 +231,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getBButton() {
return getRawButton(Button.kB.value);
return m_hid.getRawButton(Button.kB.value);
}
/**
@@ -214,7 +240,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getBButtonPressed() {
return getRawButtonPressed(Button.kB.value);
return m_hid.getRawButtonPressed(Button.kB.value);
}
/**
@@ -223,7 +249,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getBButtonReleased() {
return getRawButtonReleased(Button.kB.value);
return m_hid.getRawButtonReleased(Button.kB.value);
}
/**
@@ -234,7 +260,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent b(EventLoop loop) {
return button(Button.kB.value, loop);
return m_hid.button(Button.kB.value, loop);
}
/**
@@ -243,7 +269,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getXButton() {
return getRawButton(Button.kX.value);
return m_hid.getRawButton(Button.kX.value);
}
/**
@@ -252,7 +278,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getXButtonPressed() {
return getRawButtonPressed(Button.kX.value);
return m_hid.getRawButtonPressed(Button.kX.value);
}
/**
@@ -261,7 +287,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getXButtonReleased() {
return getRawButtonReleased(Button.kX.value);
return m_hid.getRawButtonReleased(Button.kX.value);
}
/**
@@ -272,7 +298,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent x(EventLoop loop) {
return button(Button.kX.value, loop);
return m_hid.button(Button.kX.value, loop);
}
/**
@@ -281,7 +307,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getYButton() {
return getRawButton(Button.kY.value);
return m_hid.getRawButton(Button.kY.value);
}
/**
@@ -290,7 +316,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getYButtonPressed() {
return getRawButtonPressed(Button.kY.value);
return m_hid.getRawButtonPressed(Button.kY.value);
}
/**
@@ -299,7 +325,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getYButtonReleased() {
return getRawButtonReleased(Button.kY.value);
return m_hid.getRawButtonReleased(Button.kY.value);
}
/**
@@ -310,7 +336,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent y(EventLoop loop) {
return button(Button.kY.value, loop);
return m_hid.button(Button.kY.value, loop);
}
/**
@@ -319,7 +345,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getLeftBumperButton() {
return getRawButton(Button.kLeftBumper.value);
return m_hid.getRawButton(Button.kLeftBumper.value);
}
/**
@@ -328,7 +354,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getLeftBumperButtonPressed() {
return getRawButtonPressed(Button.kLeftBumper.value);
return m_hid.getRawButtonPressed(Button.kLeftBumper.value);
}
/**
@@ -337,7 +363,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getLeftBumperButtonReleased() {
return getRawButtonReleased(Button.kLeftBumper.value);
return m_hid.getRawButtonReleased(Button.kLeftBumper.value);
}
/**
@@ -348,7 +374,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent leftBumper(EventLoop loop) {
return button(Button.kLeftBumper.value, loop);
return m_hid.button(Button.kLeftBumper.value, loop);
}
/**
@@ -357,7 +383,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getRightBumperButton() {
return getRawButton(Button.kRightBumper.value);
return m_hid.getRawButton(Button.kRightBumper.value);
}
/**
@@ -366,7 +392,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getRightBumperButtonPressed() {
return getRawButtonPressed(Button.kRightBumper.value);
return m_hid.getRawButtonPressed(Button.kRightBumper.value);
}
/**
@@ -375,7 +401,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getRightBumperButtonReleased() {
return getRawButtonReleased(Button.kRightBumper.value);
return m_hid.getRawButtonReleased(Button.kRightBumper.value);
}
/**
@@ -386,7 +412,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent rightBumper(EventLoop loop) {
return button(Button.kRightBumper.value, loop);
return m_hid.button(Button.kRightBumper.value, loop);
}
/**
@@ -395,7 +421,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getLeftStickButton() {
return getRawButton(Button.kLeftStick.value);
return m_hid.getRawButton(Button.kLeftStick.value);
}
/**
@@ -404,7 +430,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getLeftStickButtonPressed() {
return getRawButtonPressed(Button.kLeftStick.value);
return m_hid.getRawButtonPressed(Button.kLeftStick.value);
}
/**
@@ -413,7 +439,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getLeftStickButtonReleased() {
return getRawButtonReleased(Button.kLeftStick.value);
return m_hid.getRawButtonReleased(Button.kLeftStick.value);
}
/**
@@ -424,7 +450,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent leftStick(EventLoop loop) {
return button(Button.kLeftStick.value, loop);
return m_hid.button(Button.kLeftStick.value, loop);
}
/**
@@ -433,7 +459,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getRightStickButton() {
return getRawButton(Button.kRightStick.value);
return m_hid.getRawButton(Button.kRightStick.value);
}
/**
@@ -442,7 +468,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getRightStickButtonPressed() {
return getRawButtonPressed(Button.kRightStick.value);
return m_hid.getRawButtonPressed(Button.kRightStick.value);
}
/**
@@ -451,7 +477,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getRightStickButtonReleased() {
return getRawButtonReleased(Button.kRightStick.value);
return m_hid.getRawButtonReleased(Button.kRightStick.value);
}
/**
@@ -462,7 +488,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent rightStick(EventLoop loop) {
return button(Button.kRightStick.value, loop);
return m_hid.button(Button.kRightStick.value, loop);
}
/**
@@ -471,7 +497,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getEllipsesButton() {
return getRawButton(Button.kEllipses.value);
return m_hid.getRawButton(Button.kEllipses.value);
}
/**
@@ -480,7 +506,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getEllipsesButtonPressed() {
return getRawButtonPressed(Button.kEllipses.value);
return m_hid.getRawButtonPressed(Button.kEllipses.value);
}
/**
@@ -489,7 +515,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getEllipsesButtonReleased() {
return getRawButtonReleased(Button.kEllipses.value);
return m_hid.getRawButtonReleased(Button.kEllipses.value);
}
/**
@@ -500,7 +526,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent ellipses(EventLoop loop) {
return button(Button.kEllipses.value, loop);
return m_hid.button(Button.kEllipses.value, loop);
}
/**
@@ -509,7 +535,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getHamburgerButton() {
return getRawButton(Button.kHamburger.value);
return m_hid.getRawButton(Button.kHamburger.value);
}
/**
@@ -518,7 +544,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getHamburgerButtonPressed() {
return getRawButtonPressed(Button.kHamburger.value);
return m_hid.getRawButtonPressed(Button.kHamburger.value);
}
/**
@@ -527,7 +553,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getHamburgerButtonReleased() {
return getRawButtonReleased(Button.kHamburger.value);
return m_hid.getRawButtonReleased(Button.kHamburger.value);
}
/**
@@ -538,7 +564,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent hamburger(EventLoop loop) {
return button(Button.kHamburger.value, loop);
return m_hid.button(Button.kHamburger.value, loop);
}
/**
@@ -547,7 +573,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getStadiaButton() {
return getRawButton(Button.kStadia.value);
return m_hid.getRawButton(Button.kStadia.value);
}
/**
@@ -556,7 +582,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getStadiaButtonPressed() {
return getRawButtonPressed(Button.kStadia.value);
return m_hid.getRawButtonPressed(Button.kStadia.value);
}
/**
@@ -565,7 +591,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getStadiaButtonReleased() {
return getRawButtonReleased(Button.kStadia.value);
return m_hid.getRawButtonReleased(Button.kStadia.value);
}
/**
@@ -576,7 +602,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent stadia(EventLoop loop) {
return button(Button.kStadia.value, loop);
return m_hid.button(Button.kStadia.value, loop);
}
/**
@@ -585,7 +611,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getRightTriggerButton() {
return getRawButton(Button.kRightTrigger.value);
return m_hid.getRawButton(Button.kRightTrigger.value);
}
/**
@@ -594,7 +620,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getRightTriggerButtonPressed() {
return getRawButtonPressed(Button.kRightTrigger.value);
return m_hid.getRawButtonPressed(Button.kRightTrigger.value);
}
/**
@@ -603,7 +629,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getRightTriggerButtonReleased() {
return getRawButtonReleased(Button.kRightTrigger.value);
return m_hid.getRawButtonReleased(Button.kRightTrigger.value);
}
/**
@@ -614,7 +640,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent rightTrigger(EventLoop loop) {
return button(Button.kRightTrigger.value, loop);
return m_hid.button(Button.kRightTrigger.value, loop);
}
/**
@@ -623,7 +649,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getLeftTriggerButton() {
return getRawButton(Button.kLeftTrigger.value);
return m_hid.getRawButton(Button.kLeftTrigger.value);
}
/**
@@ -632,7 +658,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getLeftTriggerButtonPressed() {
return getRawButtonPressed(Button.kLeftTrigger.value);
return m_hid.getRawButtonPressed(Button.kLeftTrigger.value);
}
/**
@@ -641,7 +667,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getLeftTriggerButtonReleased() {
return getRawButtonReleased(Button.kLeftTrigger.value);
return m_hid.getRawButtonReleased(Button.kLeftTrigger.value);
}
/**
@@ -652,7 +678,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent leftTrigger(EventLoop loop) {
return button(Button.kLeftTrigger.value, loop);
return m_hid.button(Button.kLeftTrigger.value, loop);
}
/**
@@ -661,7 +687,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getGoogleButton() {
return getRawButton(Button.kGoogle.value);
return m_hid.getRawButton(Button.kGoogle.value);
}
/**
@@ -670,7 +696,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getGoogleButtonPressed() {
return getRawButtonPressed(Button.kGoogle.value);
return m_hid.getRawButtonPressed(Button.kGoogle.value);
}
/**
@@ -679,7 +705,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getGoogleButtonReleased() {
return getRawButtonReleased(Button.kGoogle.value);
return m_hid.getRawButtonReleased(Button.kGoogle.value);
}
/**
@@ -690,7 +716,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent google(EventLoop loop) {
return button(Button.kGoogle.value, loop);
return m_hid.button(Button.kGoogle.value, loop);
}
/**
@@ -699,7 +725,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getFrameButton() {
return getRawButton(Button.kFrame.value);
return m_hid.getRawButton(Button.kFrame.value);
}
/**
@@ -708,7 +734,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getFrameButtonPressed() {
return getRawButtonPressed(Button.kFrame.value);
return m_hid.getRawButtonPressed(Button.kFrame.value);
}
/**
@@ -717,7 +743,7 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getFrameButtonReleased() {
return getRawButtonReleased(Button.kFrame.value);
return m_hid.getRawButtonReleased(Button.kFrame.value);
}
/**
@@ -728,7 +754,65 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent frame(EventLoop loop) {
return button(Button.kFrame.value, loop);
return m_hid.button(Button.kFrame.value, loop);
}
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
public String getName() {
return m_hid.getName();
}
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
public int getPort() {
return m_hid.getPort();
}
/**
* Set the rumble output for the HID.
*
* <p>The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble,
* and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
@Override

186
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsXboxController.java generated
View File

@@ -6,6 +6,11 @@
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
@@ -23,7 +28,7 @@ import org.wpilib.util.sendable.SendableBuilder;
* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
* 3rd party controllers.
*/
public class NiDsXboxController extends GenericHID implements Sendable {
public class NiDsXboxController implements HIDDevice, Sendable {
/** Represents a digital button on a NiDsXboxController. */
public enum Button {
/** A button. */
@@ -109,14 +114,35 @@ public class NiDsXboxController extends GenericHID implements Sendable {
}
}
private final GenericHID m_hid;
/**
* Get the underlying GenericHID object.
*
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a controller.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
*/
public NiDsXboxController(final int port) {
super(port);
HAL.reportUsage("HID", port, "NiDsXboxController");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a controller with a GenericHID object.
*
* @param hid The GenericHID object to use for this controller.
*/
public NiDsXboxController(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "NiDsXboxController");
}
/**
@@ -125,7 +151,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftX() {
return getRawAxis(Axis.kLeftX.value);
return m_hid.getRawAxis(Axis.kLeftX.value);
}
/**
@@ -134,7 +160,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightX() {
return getRawAxis(Axis.kRightX.value);
return m_hid.getRawAxis(Axis.kRightX.value);
}
/**
@@ -143,7 +169,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftY() {
return getRawAxis(Axis.kLeftY.value);
return m_hid.getRawAxis(Axis.kLeftY.value);
}
/**
@@ -152,7 +178,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightY() {
return getRawAxis(Axis.kRightY.value);
return m_hid.getRawAxis(Axis.kRightY.value);
}
/**
@@ -162,7 +188,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getLeftTriggerAxis() {
return getRawAxis(Axis.kLeftTrigger.value);
return m_hid.getRawAxis(Axis.kLeftTrigger.value);
}
/**
@@ -176,7 +202,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* threshold, attached to the given event loop
*/
public BooleanEvent leftTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(Axis.kLeftTrigger.value, threshold, loop);
return m_hid.axisGreaterThan(Axis.kLeftTrigger.value, threshold, loop);
}
/**
@@ -198,7 +224,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The axis value.
*/
public double getRightTriggerAxis() {
return getRawAxis(Axis.kRightTrigger.value);
return m_hid.getRawAxis(Axis.kRightTrigger.value);
}
/**
@@ -212,7 +238,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* threshold, attached to the given event loop
*/
public BooleanEvent rightTrigger(double threshold, EventLoop loop) {
return axisGreaterThan(Axis.kRightTrigger.value, threshold, loop);
return m_hid.axisGreaterThan(Axis.kRightTrigger.value, threshold, loop);
}
/**
@@ -233,7 +259,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getAButton() {
return getRawButton(Button.kA.value);
return m_hid.getRawButton(Button.kA.value);
}
/**
@@ -242,7 +268,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getAButtonPressed() {
return getRawButtonPressed(Button.kA.value);
return m_hid.getRawButtonPressed(Button.kA.value);
}
/**
@@ -251,7 +277,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getAButtonReleased() {
return getRawButtonReleased(Button.kA.value);
return m_hid.getRawButtonReleased(Button.kA.value);
}
/**
@@ -262,7 +288,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent a(EventLoop loop) {
return button(Button.kA.value, loop);
return m_hid.button(Button.kA.value, loop);
}
/**
@@ -271,7 +297,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getBButton() {
return getRawButton(Button.kB.value);
return m_hid.getRawButton(Button.kB.value);
}
/**
@@ -280,7 +306,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getBButtonPressed() {
return getRawButtonPressed(Button.kB.value);
return m_hid.getRawButtonPressed(Button.kB.value);
}
/**
@@ -289,7 +315,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getBButtonReleased() {
return getRawButtonReleased(Button.kB.value);
return m_hid.getRawButtonReleased(Button.kB.value);
}
/**
@@ -300,7 +326,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent b(EventLoop loop) {
return button(Button.kB.value, loop);
return m_hid.button(Button.kB.value, loop);
}
/**
@@ -309,7 +335,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getXButton() {
return getRawButton(Button.kX.value);
return m_hid.getRawButton(Button.kX.value);
}
/**
@@ -318,7 +344,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getXButtonPressed() {
return getRawButtonPressed(Button.kX.value);
return m_hid.getRawButtonPressed(Button.kX.value);
}
/**
@@ -327,7 +353,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getXButtonReleased() {
return getRawButtonReleased(Button.kX.value);
return m_hid.getRawButtonReleased(Button.kX.value);
}
/**
@@ -338,7 +364,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent x(EventLoop loop) {
return button(Button.kX.value, loop);
return m_hid.button(Button.kX.value, loop);
}
/**
@@ -347,7 +373,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getYButton() {
return getRawButton(Button.kY.value);
return m_hid.getRawButton(Button.kY.value);
}
/**
@@ -356,7 +382,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getYButtonPressed() {
return getRawButtonPressed(Button.kY.value);
return m_hid.getRawButtonPressed(Button.kY.value);
}
/**
@@ -365,7 +391,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getYButtonReleased() {
return getRawButtonReleased(Button.kY.value);
return m_hid.getRawButtonReleased(Button.kY.value);
}
/**
@@ -376,7 +402,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent y(EventLoop loop) {
return button(Button.kY.value, loop);
return m_hid.button(Button.kY.value, loop);
}
/**
@@ -385,7 +411,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getLeftBumperButton() {
return getRawButton(Button.kLeftBumper.value);
return m_hid.getRawButton(Button.kLeftBumper.value);
}
/**
@@ -394,7 +420,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getLeftBumperButtonPressed() {
return getRawButtonPressed(Button.kLeftBumper.value);
return m_hid.getRawButtonPressed(Button.kLeftBumper.value);
}
/**
@@ -403,7 +429,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getLeftBumperButtonReleased() {
return getRawButtonReleased(Button.kLeftBumper.value);
return m_hid.getRawButtonReleased(Button.kLeftBumper.value);
}
/**
@@ -414,7 +440,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent leftBumper(EventLoop loop) {
return button(Button.kLeftBumper.value, loop);
return m_hid.button(Button.kLeftBumper.value, loop);
}
/**
@@ -423,7 +449,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getRightBumperButton() {
return getRawButton(Button.kRightBumper.value);
return m_hid.getRawButton(Button.kRightBumper.value);
}
/**
@@ -432,7 +458,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getRightBumperButtonPressed() {
return getRawButtonPressed(Button.kRightBumper.value);
return m_hid.getRawButtonPressed(Button.kRightBumper.value);
}
/**
@@ -441,7 +467,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getRightBumperButtonReleased() {
return getRawButtonReleased(Button.kRightBumper.value);
return m_hid.getRawButtonReleased(Button.kRightBumper.value);
}
/**
@@ -452,7 +478,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent rightBumper(EventLoop loop) {
return button(Button.kRightBumper.value, loop);
return m_hid.button(Button.kRightBumper.value, loop);
}
/**
@@ -461,7 +487,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getBackButton() {
return getRawButton(Button.kBack.value);
return m_hid.getRawButton(Button.kBack.value);
}
/**
@@ -470,7 +496,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getBackButtonPressed() {
return getRawButtonPressed(Button.kBack.value);
return m_hid.getRawButtonPressed(Button.kBack.value);
}
/**
@@ -479,7 +505,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getBackButtonReleased() {
return getRawButtonReleased(Button.kBack.value);
return m_hid.getRawButtonReleased(Button.kBack.value);
}
/**
@@ -490,7 +516,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent back(EventLoop loop) {
return button(Button.kBack.value, loop);
return m_hid.button(Button.kBack.value, loop);
}
/**
@@ -499,7 +525,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getStartButton() {
return getRawButton(Button.kStart.value);
return m_hid.getRawButton(Button.kStart.value);
}
/**
@@ -508,7 +534,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getStartButtonPressed() {
return getRawButtonPressed(Button.kStart.value);
return m_hid.getRawButtonPressed(Button.kStart.value);
}
/**
@@ -517,7 +543,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getStartButtonReleased() {
return getRawButtonReleased(Button.kStart.value);
return m_hid.getRawButtonReleased(Button.kStart.value);
}
/**
@@ -528,7 +554,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent start(EventLoop loop) {
return button(Button.kStart.value, loop);
return m_hid.button(Button.kStart.value, loop);
}
/**
@@ -537,7 +563,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getLeftStickButton() {
return getRawButton(Button.kLeftStick.value);
return m_hid.getRawButton(Button.kLeftStick.value);
}
/**
@@ -546,7 +572,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getLeftStickButtonPressed() {
return getRawButtonPressed(Button.kLeftStick.value);
return m_hid.getRawButtonPressed(Button.kLeftStick.value);
}
/**
@@ -555,7 +581,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getLeftStickButtonReleased() {
return getRawButtonReleased(Button.kLeftStick.value);
return m_hid.getRawButtonReleased(Button.kLeftStick.value);
}
/**
@@ -566,7 +592,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent leftStick(EventLoop loop) {
return button(Button.kLeftStick.value, loop);
return m_hid.button(Button.kLeftStick.value, loop);
}
/**
@@ -575,7 +601,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getRightStickButton() {
return getRawButton(Button.kRightStick.value);
return m_hid.getRawButton(Button.kRightStick.value);
}
/**
@@ -584,7 +610,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getRightStickButtonPressed() {
return getRawButtonPressed(Button.kRightStick.value);
return m_hid.getRawButtonPressed(Button.kRightStick.value);
}
/**
@@ -593,7 +619,7 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getRightStickButtonReleased() {
return getRawButtonReleased(Button.kRightStick.value);
return m_hid.getRawButtonReleased(Button.kRightStick.value);
}
/**
@@ -604,7 +630,65 @@ public class NiDsXboxController extends GenericHID implements Sendable {
* attached to the given loop.
*/
public BooleanEvent rightStick(EventLoop loop) {
return button(Button.kRightStick.value, loop);
return m_hid.button(Button.kRightStick.value, loop);
}
/**
* Get if the controller is connected.
*
* @return true if the controller is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the controller.
*
* @return the type of the controller.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs of the controller.
*
* @return the supported outputs of the controller.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the controller.
*
* @return the name of the controller.
*/
public String getName() {
return m_hid.getName();
}
/**
* Get the port number of the controller.
*
* @return The port number of the controller.
*/
public int getPort() {
return m_hid.getPort();
}
/**
* Set the rumble output for the HID.
*
* <p>The DS currently supports 4 rumble values: left rumble, right rumble, left trigger rumble,
* and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
@Override

2
wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS4ControllerSim.java generated
View File

@@ -17,7 +17,7 @@ public class NiDsPS4ControllerSim extends GenericHIDSim {
*/
@SuppressWarnings("this-escape")
public NiDsPS4ControllerSim(NiDsPS4Controller joystick) {
super(joystick);
super(joystick.getHID());
setAxesMaximumIndex(6);
setButtonsMaximumIndex(14);
setPOVsMaximumIndex(1);

2
wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsPS5ControllerSim.java generated
View File

@@ -17,7 +17,7 @@ public class NiDsPS5ControllerSim extends GenericHIDSim {
*/
@SuppressWarnings("this-escape")
public NiDsPS5ControllerSim(NiDsPS5Controller joystick) {
super(joystick);
super(joystick.getHID());
setAxesMaximumIndex(6);
setButtonsMaximumIndex(14);
setPOVsMaximumIndex(1);

2
wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsStadiaControllerSim.java generated
View File

@@ -17,7 +17,7 @@ public class NiDsStadiaControllerSim extends GenericHIDSim {
*/
@SuppressWarnings("this-escape")
public NiDsStadiaControllerSim(NiDsStadiaController joystick) {
super(joystick);
super(joystick.getHID());
setAxesMaximumIndex(4);
setButtonsMaximumIndex(15);
setPOVsMaximumIndex(1);

2
wpilibj/src/generated/main/java/org/wpilib/simulation/NiDsXboxControllerSim.java generated
View File

@@ -17,7 +17,7 @@ public class NiDsXboxControllerSim extends GenericHIDSim {
*/
@SuppressWarnings("this-escape")
public NiDsXboxControllerSim(NiDsXboxController joystick) {
super(joystick);
super(joystick.getHID());
setAxesMaximumIndex(6);
setButtonsMaximumIndex(10);
setPOVsMaximumIndex(1);

52
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
View File

@@ -4,6 +4,8 @@
package org.wpilib.driverstation;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.datalog.DataLog;
import org.wpilib.driverstation.internal.DriverStationBackend;
@@ -11,6 +13,56 @@ import org.wpilib.driverstation.internal.DriverStationBackend;
public final class DriverStation {
private DriverStation() {}
private static final Lock m_dsLock = new ReentrantLock();
private static final GenericHID[] m_hids = new GenericHID[DriverStationBackend.JOYSTICK_PORTS];
private static final Gamepad[] m_gamepads = new Gamepad[DriverStationBackend.JOYSTICK_PORTS];
private static GenericHID getGenericHIDUnderLock(int port) {
GenericHID toRet = m_hids[port];
if (toRet == null) {
toRet = new GenericHID(port);
m_hids[port] = toRet;
}
return toRet;
}
/**
* Gets the GenericHID object for the given port. GenericHID 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 controller is plugged into (0-5).
* @return The GenericHID object for the given port.
*/
public static GenericHID getGenericHID(int port) {
m_dsLock.lock();
try {
return getGenericHIDUnderLock(port);
} finally {
m_dsLock.unlock();
}
}
/**
* Gets the Gamepad object for the given port. Gamepad 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 controller is plugged into (0-5).
* @return The Gamepad object for the given port.
*/
public static Gamepad getGamepad(int port) {
m_dsLock.lock();
try {
Gamepad toRet = m_gamepads[port];
if (toRet == null) {
toRet = new Gamepad(getGenericHIDUnderLock(port));
m_gamepads[port] = toRet;
}
return toRet;
} finally {
m_dsLock.unlock();
}
}
/**
* Starts logging DriverStation data to data log, including joystick data. Repeated calls are
* ignored.

158
wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
View File

@@ -4,6 +4,11 @@
package org.wpilib.driverstation;
import java.util.EnumSet;
import java.util.Objects;
import org.wpilib.driverstation.GenericHID.HIDType;
import org.wpilib.driverstation.GenericHID.RumbleType;
import org.wpilib.driverstation.GenericHID.SupportedOutput;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
@@ -18,12 +23,8 @@ import org.wpilib.util.sendable.SendableBuilder;
* <p>This class handles Gamepad input that comes from the Driver Station. Each time a value is
* requested the most recent value is returned. There is a single class instance for each controller
* and the mapping of ports to hardware buttons depends on the code in the Driver Station.
*
* <p>Only first party controllers from Generic are guaranteed to have the correct mapping, and only
* through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any 3rd
* party controllers.
*/
public class Gamepad extends GenericHID implements Sendable {
public class Gamepad implements HIDDevice, Sendable {
private static final double MAX_DEADBAND = Math.nextDown(1.0);
/** Represents a digital button on a Gamepad. */
@@ -156,14 +157,35 @@ public class Gamepad extends GenericHID implements Sendable {
return Math.clamp(deadband, 0.0, MAX_DEADBAND);
}
private final GenericHID m_hid;
/**
* Construct an instance of a controller.
* Get the underlying GenericHID object.
*
* @param port The port index on the Driver Station that the controller is plugged into (0-5).
* @return the wrapped GenericHID object
*/
@Override
public GenericHID getHID() {
return m_hid;
}
/**
* Construct an instance of a gamepad.
*
* @param port The port index on the Driver Station that the gamepad is plugged into (0-5).
*/
public Gamepad(final int port) {
super(port);
HAL.reportUsage("HID", port, "Gamepad");
this(DriverStation.getGenericHID(port));
}
/**
* Construct an instance of a gamepad with a GenericHID object.
*
* @param hid The GenericHID object to use for this gamepad.
*/
public Gamepad(final GenericHID hid) {
m_hid = Objects.requireNonNull(hid, "Provided HID object cannot be null");
HAL.reportUsage("HID", hid.getPort(), "Gamepad");
}
/**
@@ -1350,7 +1372,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return The state of the button.
*/
public boolean getButton(Button button) {
return getRawButton(button.value);
return m_hid.getRawButton(button.value);
}
/**
@@ -1364,7 +1386,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return Whether the button was pressed since the last check.
*/
public boolean getButtonPressed(Button button) {
return getRawButtonPressed(button.value);
return m_hid.getRawButtonPressed(button.value);
}
/**
@@ -1378,7 +1400,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return Whether the button was released since the last check.
*/
public boolean getButtonReleased(Button button) {
return getRawButtonReleased(button.value);
return m_hid.getRawButtonReleased(button.value);
}
/**
@@ -1389,7 +1411,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return an event instance representing the button's digital signal attached to the given loop.
*/
public BooleanEvent button(Button button, EventLoop loop) {
return super.button(button.value, loop);
return m_hid.button(button.value, loop);
}
/**
@@ -1399,7 +1421,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return The value of the axis.
*/
public double getAxis(Axis axis) {
return getRawAxis(axis.value);
return m_hid.getRawAxis(axis.value);
}
/**
@@ -1412,7 +1434,7 @@ public class Gamepad extends GenericHID implements Sendable {
* @return an event instance that is true when the axis value is less than the provided threshold.
*/
public BooleanEvent axisLessThan(Axis axis, double threshold, EventLoop loop) {
return super.axisLessThan(axis.value, threshold, loop);
return m_hid.axisLessThan(axis.value, threshold, loop);
}
/**
@@ -1426,15 +1448,115 @@ public class Gamepad extends GenericHID implements Sendable {
* threshold.
*/
public BooleanEvent axisGreaterThan(Axis axis, double threshold, EventLoop loop) {
return super.axisGreaterThan(axis.value, threshold, loop);
return m_hid.axisGreaterThan(axis.value, threshold, loop);
}
/**
* Get the bitmask of axes for the gamepad.
*
* @return the number of axis for the current gamepad
*/
public int getAxesAvailable() {
return m_hid.getAxesAvailable();
}
/**
* For the current gamepad, return the bitmask of available buttons.
*
* @return the bitmask of buttons for the current gamepad
*/
public long getButtonsAvailable() {
return m_hid.getButtonsAvailable();
}
/**
* Get if the gamepad is connected.
*
* @return true if the gamepad is connected
*/
public boolean isConnected() {
return m_hid.isConnected();
}
/**
* Get the type of the gamepad.
*
* @return the type of the gamepad.
*/
public HIDType getGamepadType() {
return m_hid.getGamepadType();
}
/**
* Get the supported outputs for the gamepad.
*
* @return the supported outputs for the gamepad.
*/
public EnumSet<SupportedOutput> getSupportedOutputs() {
return m_hid.getSupportedOutputs();
}
/**
* Get the name of the gamepad.
*
* @return the name of the gamepad.
*/
public String getName() {
return m_hid.getName();
}
/**
* Set leds on the gamepad. If only mono is supported, the system will use the highest value
* passed in.
*
* @param r Red value from 0-255
* @param g Green value from 0-255
* @param b Blue value from 0-255
*/
public void setLeds(int r, int g, int b) {
m_hid.setLeds(r, g, b);
}
/**
* Set the rumble output for the HID. The DS currently supports 4 rumble values: left rumble,
* right rumble, left trigger rumble, and right trigger rumble.
*
* @param type Which rumble value to set
* @param value The normalized value (0 to 1) to set the rumble to
*/
public void setRumble(RumbleType type, double value) {
m_hid.setRumble(type, value);
}
/**
* Check if a touchpad finger is available.
*
* @param touchpad The touchpad to check.
* @param finger The finger to check.
* @return true if the touchpad finger is available.
*/
public boolean getTouchpadFingerAvailable(int touchpad, int finger) {
return m_hid.getTouchpadFingerAvailable(touchpad, finger);
}
/**
* Get the touchpad finger data.
*
* @param touchpad The touchpad to read.
* @param finger The finger to read.
* @return The touchpad finger data.
*/
public TouchpadFinger getTouchpadFinger(int touchpad, int finger) {
return m_hid.getTouchpadFinger(touchpad, finger);
}
private double getAxisForSendable(Axis axis) {
return DriverStationBackend.getStickAxisIfAvailable(getPort(), axis.value).orElse(0.0);
return DriverStationBackend.getStickAxisIfAvailable(m_hid.getPort(), axis.value).orElse(0.0);
}
private boolean getButtonForSendable(Button button) {
return DriverStationBackend.getStickButtonIfAvailable(getPort(), button.value).orElse(false);
return DriverStationBackend.getStickButtonIfAvailable(m_hid.getPort(), button.value)
.orElse(false);
}
@Override

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