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Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
281
wpilibc/src/main/native/cpp/Joystick.cpp
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281
wpilibc/src/main/native/cpp/Joystick.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Joystick.h"
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#include <cmath>
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#include "DriverStation.h"
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#include "HAL/HAL.h"
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#include "WPIErrors.h"
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using namespace frc;
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const int Joystick::kDefaultXAxis;
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const int Joystick::kDefaultYAxis;
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const int Joystick::kDefaultZAxis;
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const int Joystick::kDefaultTwistAxis;
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const int Joystick::kDefaultThrottleAxis;
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const int Joystick::kDefaultTriggerButton;
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const int Joystick::kDefaultTopButton;
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static Joystick* joysticks[DriverStation::kJoystickPorts];
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static bool joySticksInitialized = false;
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/**
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* Construct an instance of a joystick.
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*
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* The joystick index is the USB port on the Driver Station.
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*
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* @param port The port on the Driver Station that the joystick is plugged into
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* (0-5).
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*/
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Joystick::Joystick(int port) : Joystick(port, kNumAxisTypes, kNumButtonTypes) {
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m_axes[kXAxis] = kDefaultXAxis;
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m_axes[kYAxis] = kDefaultYAxis;
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m_axes[kZAxis] = kDefaultZAxis;
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m_axes[kTwistAxis] = kDefaultTwistAxis;
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m_axes[kThrottleAxis] = kDefaultThrottleAxis;
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m_buttons[kTriggerButton] = kDefaultTriggerButton;
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m_buttons[kTopButton] = kDefaultTopButton;
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HAL_Report(HALUsageReporting::kResourceType_Joystick, port);
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}
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/**
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* Version of the constructor to be called by sub-classes.
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*
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* This constructor allows the subclass to configure the number of constants
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* for axes and buttons.
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*
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* @param port The port on the Driver Station that the joystick is
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* plugged into.
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* @param numAxisTypes The number of axis types in the enum.
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* @param numButtonTypes The number of button types in the enum.
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*/
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Joystick::Joystick(int port, int numAxisTypes, int numButtonTypes)
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: JoystickBase(port),
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m_ds(DriverStation::GetInstance()),
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m_axes(numAxisTypes),
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m_buttons(numButtonTypes) {
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if (!joySticksInitialized) {
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for (auto& joystick : joysticks) joystick = nullptr;
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joySticksInitialized = true;
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}
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if (GetPort() >= DriverStation::kJoystickPorts) {
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wpi_setWPIError(BadJoystickIndex);
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} else {
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joysticks[GetPort()] = this;
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}
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}
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Joystick* Joystick::GetStickForPort(int port) {
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Joystick* stick = joysticks[port];
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if (stick == nullptr) {
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stick = new Joystick(port);
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joysticks[port] = stick;
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}
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return stick;
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}
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/**
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* Get the X value of the joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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*/
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double Joystick::GetX(JoystickHand hand) const {
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return GetRawAxis(m_axes[kXAxis]);
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}
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/**
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* Get the Y value of the joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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*/
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double Joystick::GetY(JoystickHand hand) const {
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return GetRawAxis(m_axes[kYAxis]);
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}
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/**
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* Get the Z value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double Joystick::GetZ(JoystickHand hand) const {
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return GetRawAxis(m_axes[kZAxis]);
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}
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/**
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* Get the twist value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double Joystick::GetTwist() const { return GetRawAxis(m_axes[kTwistAxis]); }
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/**
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* Get the throttle value of the current joystick.
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*
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* This depends on the mapping of the joystick connected to the current port.
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*/
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double Joystick::GetThrottle() const {
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return GetRawAxis(m_axes[kThrottleAxis]);
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}
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/**
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* For the current joystick, return the axis determined by the argument.
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*
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* This is for cases where the joystick axis is returned programatically,
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* otherwise one of the previous functions would be preferable (for example
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* GetX()).
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*
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* @param axis The axis to read.
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* @return The value of the axis.
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*/
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double Joystick::GetAxis(AxisType axis) const {
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switch (axis) {
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case kXAxis:
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return this->GetX();
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case kYAxis:
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return this->GetY();
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case kZAxis:
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return this->GetZ();
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case kTwistAxis:
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return this->GetTwist();
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case kThrottleAxis:
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return this->GetThrottle();
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default:
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wpi_setWPIError(BadJoystickAxis);
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return 0.0;
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}
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}
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/**
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* Read the state of the trigger on the joystick.
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*
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* Look up which button has been assigned to the trigger and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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* @return The state of the trigger.
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*/
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bool Joystick::GetTrigger(JoystickHand hand) const {
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return GetRawButton(m_buttons[kTriggerButton]);
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}
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/**
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* Read the state of the top button on the joystick.
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*
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* Look up which button has been assigned to the top and read its state.
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*
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* @param hand This parameter is ignored for the Joystick class and is only
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* here to complete the GenericHID interface.
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* @return The state of the top button.
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*/
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bool Joystick::GetTop(JoystickHand hand) const {
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return GetRawButton(m_buttons[kTopButton]);
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}
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/**
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* Get buttons based on an enumerated type.
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*
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* The button type will be looked up in the list of buttons and then read.
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*
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* @param button The type of button to read.
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* @return The state of the button.
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*/
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bool Joystick::GetButton(ButtonType button) const {
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switch (button) {
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case kTriggerButton:
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return GetTrigger();
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case kTopButton:
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return GetTop();
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default:
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return false;
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}
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}
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/**
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* Get the number of axis for a joystick
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*
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* @return the number of axis for the current joystick
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*/
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int Joystick::GetAxisCount() const { return m_ds.GetStickAxisCount(GetPort()); }
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/**
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* Get the axis type of a joystick axis.
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*
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* @return the axis type of a joystick axis.
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*/
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int Joystick::GetAxisType(int axis) const {
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return m_ds.GetJoystickAxisType(GetPort(), axis);
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}
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/**
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* Get the number of buttons for a joystick.
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*
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* @return the number of buttons on the current joystick
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*/
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int Joystick::GetButtonCount() const {
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return m_ds.GetStickButtonCount(GetPort());
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}
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/**
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* Get the channel currently associated with the specified axis.
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*
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* @param axis The axis to look up the channel for.
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* @return The channel fr the axis.
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*/
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int Joystick::GetAxisChannel(AxisType axis) const { return m_axes[axis]; }
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/**
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* Set the channel associated with a specified axis.
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*
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* @param axis The axis to set the channel for.
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* @param channel The channel to set the axis to.
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*/
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void Joystick::SetAxisChannel(AxisType axis, int channel) {
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m_axes[axis] = channel;
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}
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/**
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* Get the magnitude of the direction vector formed by the joystick's
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* current position relative to its origin.
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*
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* @return The magnitude of the direction vector
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*/
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double Joystick::GetMagnitude() const {
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return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
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}
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in radians.
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*
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* @return The direction of the vector in radians
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*/
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double Joystick::GetDirectionRadians() const {
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return std::atan2(GetX(), -GetY());
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}
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/**
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* Get the direction of the vector formed by the joystick and its origin
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* in degrees.
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*
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* uses std::acos(-1) to represent Pi due to absence of readily accessible Pi
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* constant in C++
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*
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* @return The direction of the vector in degrees
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*/
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double Joystick::GetDirectionDegrees() const {
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return (180 / std::acos(-1)) * GetDirectionRadians();
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}
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