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[wpilib] Add IsJoystickConnected method (#2847)

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This commit is contained in:
Austin Shalit
2020-11-13 14:11:10 -05:00
committed by GitHub
parent 6b5e83ce1d
commit de17422793
8 changed files with 129 additions and 0 deletions
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5
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -331,6 +331,11 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const {
return static_cast<bool>(descriptor.axisTypes);
}
bool DriverStation::IsJoystickConnected(int stick) const {
return GetStickAxisCount(stick) > 0 || GetStickButtonCount(stick) > 0 ||
GetStickPOVCount(stick) > 0;
}
bool DriverStation::IsEnabled() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);

4
wpilibc/src/main/native/cpp/GenericHID.cpp
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@@ -47,6 +47,10 @@ int GenericHID::GetButtonCount() const {
return m_ds->GetStickButtonCount(m_port);
}
bool GenericHID::IsConnected() const {
return m_ds->IsJoystickConnected(m_port);
}
GenericHID::HIDType GenericHID::GetType() const {
return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
}

11
wpilibc/src/main/native/include/frc/DriverStation.h
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@@ -181,6 +181,17 @@ class DriverStation : public ErrorBase {
*/
int GetJoystickAxisType(int stick, int axis) const;
/**
* Returns if a joystick is connected to the Driver Station.
*
* This makes a best effort guess by looking at the reported number of axis,
* buttons, and POVs attached.
*
* @param stick The joystick port number
* @return true if a joystick is connected
*/
bool IsJoystickConnected(int stick) const;
/**
* Check if the DS has enabled the robot.
*

7
wpilibc/src/main/native/include/frc/GenericHID.h
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@@ -136,6 +136,13 @@ class GenericHID : public ErrorBase {
*/
int GetButtonCount() const;
/**
* Get if the HID is connected.
*
* @return true if the HID is connected
*/
bool IsConnected() const;
/**
* Get the type of the HID.
*

34
wpilibc/src/test/native/cpp/DriverStationTest.cpp Normal file
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@@ -0,0 +1,34 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <tuple>
#include "frc/DriverStation.h"
#include "frc/simulation/DriverStationSim.h"
#include "gtest/gtest.h"
class IsJoystickConnectedParametersTests
: public ::testing::TestWithParam<std::tuple<int, int, int, bool>> {};
TEST_P(IsJoystickConnectedParametersTests, IsJoystickConnected) {
frc::sim::DriverStationSim::SetJoystickAxisCount(1, std::get<0>(GetParam()));
frc::sim::DriverStationSim::SetJoystickButtonCount(1,
std::get<1>(GetParam()));
frc::sim::DriverStationSim::SetJoystickPOVCount(1, std::get<2>(GetParam()));
frc::sim::DriverStationSim::NotifyNewData();
ASSERT_EQ(std::get<3>(GetParam()),
frc::DriverStation::GetInstance().IsJoystickConnected(1));
}
INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTests,
::testing::Values(std::make_tuple(0, 0, 0, false),
std::make_tuple(1, 0, 0, true),
std::make_tuple(0, 1, 0, true),
std::make_tuple(0, 0, 1, true),
std::make_tuple(1, 1, 1, true),
std::make_tuple(4, 10, 1, true)));