mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
Move generated files to more consistent locations (#6906)
Java templates always go under src/generate/main/java. JSON files go to src/generate.
This commit is contained in:
Gold856
306
wpilibj/src/generate/main/java/hid.java.jinja
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306
wpilibj/src/generate/main/java/hid.java.jinja
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@@ -0,0 +1,306 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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||||
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
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{% macro capitalize_first(string) -%}
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{{ string[0]|capitalize + string[1:] }}
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{%- endmacro %}
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package edu.wpi.first.wpilibj;
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{{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
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{{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
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import edu.wpi.first.util.sendable.Sendable;
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import edu.wpi.first.util.sendable.SendableBuilder;
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import edu.wpi.first.wpilibj.event.BooleanEvent;
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import edu.wpi.first.wpilibj.event.EventLoop;
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/**
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* Handle input from {{ ConsoleName }} controllers connected to the Driver Station.
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*
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* <p>This class handles {{ ConsoleName }} input that comes from the Driver Station. Each time a value is
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* requested the most recent value is returned. There is a single class instance for each controller
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* and the mapping of ports to hardware buttons depends on the code in the Driver Station.
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*
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* <p>Only first party controllers from {{ Manufacturer }} are guaranteed to have the correct mapping, and
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* only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
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* 3rd party controllers.
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*/
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public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
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/** Represents a digital button on a {{ ConsoleName }}Controller. */
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public enum Button {
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{%- for button in buttons %}
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/** {{ capitalize_first(button.DocName|default(button.name)) }} button. */
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k{{ capitalize_first(button.name) }}({{ button.value }}){{ ";" if loop.last else ","}}
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{%- endfor %}
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/** Button value. */
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public final int value;
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Button(int value) {
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this.value = value;
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}
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/**
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* Get the human-friendly name of the button, matching the relevant methods. This is done by
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* stripping the leading `k`, and appending `Button`.
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*
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* <p>Primarily used for automated unit tests.
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*
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* @return the human-friendly name of the button.
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*/
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@Override
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public String toString() {
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// Remove leading `k`
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return this.name().substring(1) + "Button";
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}
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}
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/** Represents an axis on an {{ ConsoleName }}Controller. */
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public enum Axis {
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{%- for stick in sticks %}
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/** {{ stick.NameParts|map("capitalize")|join(" ") }} axis. */
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k{{ stick.NameParts|map("capitalize")|join }}({{ stick.value }}){{ "," if triggers|length > 0 or not loop.last else ";"}}
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{%- endfor %}
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{%- for trigger in triggers %}
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/** {{ trigger.DocName|capitalize }}. */
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k{{ capitalize_first(trigger.name) }}({{ trigger.value }}){{ ";" if loop.last else ","}}
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{%- endfor %}
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/** Axis value. */
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public final int value;
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Axis(int value) {
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this.value = value;
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}
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/**
|
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* Get the human-friendly name of the axis, matching the relevant methods. This is done by
|
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* stripping the leading `k`, and appending `Axis` if the name ends with `{{ AxisNameSuffix }}`.
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*
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* <p>Primarily used for automated unit tests.
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*
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* @return the human-friendly name of the axis.
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*/
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@Override
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public String toString() {
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var name = this.name().substring(1); // Remove leading `k`
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if (name.endsWith("{{ AxisNameSuffix }}")) {
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return name + "Axis";
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}
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return name;
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}
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}
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/**
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* Construct an instance of a controller.
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*
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* @param port The port index on the Driver Station that the controller is plugged into (0-5).
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*/
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public {{ ConsoleName }}Controller(final int port) {
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super(port);
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{{ "// " if SkipReporting }}HAL.report(tResourceType.kResourceType_{{ ConsoleName }}Controller, port + 1);
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}
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{% for stick in sticks %}
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/**
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* Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
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*
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* @return The axis value.
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*/
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public double get{{ stick.NameParts|map("capitalize")|join }}() {
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return getRawAxis(Axis.k{{ stick.NameParts|map("capitalize")|join }}.value);
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}
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{% endfor -%}
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{% for trigger in triggers %}
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/**
|
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* Get the {{ trigger.DocName }} axis value of the controller. Note that this axis is bound to the
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* range of [0, 1] as opposed to the usual [-1, 1].
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*
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* @return The axis value.
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*/
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public double get{{ capitalize_first(trigger.name) }}Axis() {
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return getRawAxis(Axis.k{{ capitalize_first(trigger.name) }}.value);
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}
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{% if trigger.UseThresholdMethods %}
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/**
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* Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
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* will be true when the axis value is greater than {@code threshold}.
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*
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* @param threshold the minimum axis value for the returned {@link BooleanEvent} to be true. This
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* value should be in the range [0, 1] where 0 is the unpressed state of the axis.
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* @param loop the event loop instance to attach the event to.
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* @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent {{ trigger.name }}(double threshold, EventLoop loop) {
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return axisGreaterThan(Axis.k{{ capitalize_first(trigger.name) }}.value, threshold, loop);
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}
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/**
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* Constructs an event instance around the axis value of the {{ trigger.DocName }}. The returned trigger
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* will be true when the axis value is greater than 0.5.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance that is true when the {{ trigger.DocName }}'s axis exceeds the provided
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* threshold, attached to the given event loop
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*/
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public BooleanEvent {{ trigger.name }}(EventLoop loop) {
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return {{ trigger.name }}(0.5, loop);
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}
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{% endif -%}
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{% endfor -%}
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{% for button in buttons %}
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/**
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* Read the value of the {{ button.DocName|default(button.name) }} button on the controller.
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*
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* @return The state of the button.
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*/
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public boolean get{{ capitalize_first(button.name) }}Button() {
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return getRawButton(Button.k{{ capitalize_first(button.name) }}.value);
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}
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/**
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* Whether the {{ button.DocName|default(button.name) }} button was pressed since the last check.
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*
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* @return Whether the button was pressed since the last check.
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*/
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public boolean get{{ capitalize_first(button.name) }}ButtonPressed() {
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return getRawButtonPressed(Button.k{{ capitalize_first(button.name) }}.value);
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}
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/**
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* Whether the {{ button.DocName|default(button.name) }} button was released since the last check.
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*
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* @return Whether the button was released since the last check.
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*/
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public boolean get{{ capitalize_first(button.name) }}ButtonReleased() {
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return getRawButtonReleased(Button.k{{ capitalize_first(button.name) }}.value);
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}
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/**
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* Constructs an event instance around the {{ button.DocName|default(button.name) }} button's digital signal.
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*
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the {{ button.DocName|default(button.name) }} button's digital signal
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* attached to the given loop.
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*/
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public BooleanEvent {{ button.name }}(EventLoop loop) {
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return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
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}
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{% endfor -%}
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{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
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/**
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* Read the value of the left bumper (LB) button on the controller.
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||||
*
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||||
* @return The state of the button.
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||||
* @deprecated Use {@link getLeftBumperButton} instead
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||||
*/
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@Deprecated(since = "2025", forRemoval = true)
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public boolean getLeftBumper() {
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return getRawButton(Button.kLeftBumper.value);
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}
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||||
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||||
/**
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* Read the value of the right bumper (RB) button on the controller.
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*
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||||
* @return The state of the button.
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* @deprecated Use {@link getRightBumperButton} instead
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*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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public boolean getRightBumper() {
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return getRawButton(Button.kRightBumper.value);
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||||
}
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/**
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* Whether the left bumper (LB) was pressed since the last check.
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||||
*
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||||
* @return Whether the button was pressed since the last check.
|
||||
* @deprecated Use {@link getLeftBumperButtonPressed} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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public boolean getLeftBumperPressed() {
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return getRawButtonPressed(Button.kLeftBumper.value);
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||||
}
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||||
|
||||
/**
|
||||
* Whether the right bumper (RB) was pressed since the last check.
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||||
*
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||||
* @return Whether the button was pressed since the last check.
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||||
* @deprecated Use {@link getRightBumperButtonPressed} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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||||
public boolean getRightBumperPressed() {
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return getRawButtonPressed(Button.kRightBumper.value);
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}
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||||
/**
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||||
* Whether the left bumper (LB) was released since the last check.
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||||
*
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||||
* @return Whether the button was released since the last check.
|
||||
* @deprecated Use {@link getLeftBumperButtonReleased} instead
|
||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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||||
public boolean getLeftBumperReleased() {
|
||||
return getRawButtonReleased(Button.kLeftBumper.value);
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||||
}
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||||
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||||
/**
|
||||
* Whether the right bumper (RB) was released since the last check.
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||||
*
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||||
* @return Whether the button was released since the last check.
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||||
* @deprecated Use {@link getRightBumperButtonReleased} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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||||
public boolean getRightBumperReleased() {
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return getRawButtonReleased(Button.kRightBumper.value);
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}
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{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
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/**
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* Read the value of the touchpad on the controller.
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*
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||||
* @return The state of the touchpad.
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||||
* @deprecated Use {@link getTouchpadButton} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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public boolean getTouchpad() {
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return getRawButton(Button.kTouchpad.value);
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||||
}
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||||
|
||||
/**
|
||||
* Whether the touchpad was pressed since the last check.
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||||
*
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||||
* @return Whether the touchpad was pressed since the last check.
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||||
* @deprecated Use {@link getTouchpadButtonPressed} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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public boolean getTouchpadPressed() {
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||||
return getRawButtonPressed(Button.kTouchpad.value);
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||||
}
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||||
|
||||
/**
|
||||
* Whether the touchpad was released since the last check.
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||||
*
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||||
* @return Whether the touchpad was released since the last check.
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||||
* @deprecated Use {@link getTouchpadButtonReleased} instead
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||||
*/
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||||
@Deprecated(since = "2025", forRemoval = true)
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||||
public boolean getTouchpadReleased() {
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||||
return getRawButtonReleased(Button.kTouchpad.value);
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||||
}
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||||
{%- endif %}
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||||
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||||
@Override
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||||
public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("HID");
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||||
builder.publishConstString("ControllerType", "{{ ConsoleName }}");
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{%- for trigger in triggers %}
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builder.addDoubleProperty("{{ capitalize_first(trigger.name) }}", this::get{{ capitalize_first(trigger.name) }}Axis, null);
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{%- endfor -%}
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{% for stick in sticks %}
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builder.addDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", this::get{{ stick.NameParts|map("capitalize")|join }}, null);
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{%- endfor -%}
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{% for button in buttons %}
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||||
builder.addBooleanProperty("{{ capitalize_first(button.name) }}", this::get{{ capitalize_first(button.name) }}Button, null);
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||||
{%- endfor %}
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||||
}
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||||
}
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||||
115
wpilibj/src/generate/main/java/hidsim.java.jinja
Normal file
115
wpilibj/src/generate/main/java/hidsim.java.jinja
Normal file
@@ -0,0 +1,115 @@
|
||||
// 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.
|
||||
|
||||
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_hids.py. DO NOT MODIFY
|
||||
{% macro capitalize_first(string) -%}
|
||||
{{ string[0]|capitalize + string[1:] }}
|
||||
{%- endmacro %}
|
||||
package edu.wpi.first.wpilibj.simulation;
|
||||
|
||||
import edu.wpi.first.wpilibj.{{ ConsoleName }}Controller;
|
||||
|
||||
/** Class to control a simulated {{ ConsoleName }} controller. */
|
||||
public class {{ ConsoleName }}ControllerSim extends GenericHIDSim {
|
||||
/**
|
||||
* Constructs from a {{ ConsoleName }}Controller object.
|
||||
*
|
||||
* @param joystick controller to simulate
|
||||
*/
|
||||
@SuppressWarnings("this-escape")
|
||||
public {{ ConsoleName }}ControllerSim({{ ConsoleName }}Controller joystick) {
|
||||
super(joystick);
|
||||
setAxisCount({{ sticks|length + triggers|length }});
|
||||
setButtonCount({{ buttons|length }});
|
||||
setPOVCount(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs from a joystick port number.
|
||||
*
|
||||
* @param port port number
|
||||
*/
|
||||
@SuppressWarnings("this-escape")
|
||||
public {{ ConsoleName }}ControllerSim(int port) {
|
||||
super(port);
|
||||
setAxisCount({{ sticks|length + triggers|length }});
|
||||
setButtonCount({{ buttons|length }});
|
||||
setPOVCount(1);
|
||||
}
|
||||
{% for stick in sticks %}
|
||||
/**
|
||||
* Change the {{ stick.NameParts|join(" ") }} value of the controller's joystick.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
public void set{{ stick.NameParts|map("capitalize")|join }}(double value) {
|
||||
setRawAxis({{ ConsoleName }}Controller.Axis.k{{ stick.NameParts|map("capitalize")|join }}.value, value);
|
||||
}
|
||||
{% endfor -%}
|
||||
{% for trigger in triggers %}
|
||||
/**
|
||||
* Change the value of the {{ trigger.DocName }} axis on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
public void set{{ capitalize_first(trigger.name) }}Axis(double value) {
|
||||
setRawAxis({{ ConsoleName }}Controller.Axis.k{{ capitalize_first(trigger.name) }}.value, value);
|
||||
}
|
||||
{% endfor -%}
|
||||
{% for button in buttons %}
|
||||
/**
|
||||
* Change the value of the {{ button.DocName|default(button.name) }} button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
*/
|
||||
public void set{{ capitalize_first(button.name) }}Button(boolean value) {
|
||||
setRawButton({{ ConsoleName }}Controller.Button.k{{ capitalize_first(button.name) }}.value, value);
|
||||
}
|
||||
{% endfor -%}
|
||||
{% if ConsoleName == "Xbox" %}
|
||||
/**
|
||||
* Change the value of the left bumper on the joystick.
|
||||
*
|
||||
* @param state the new value
|
||||
* @deprecated Use {@link setLeftBumperButton} instead
|
||||
*/
|
||||
@Deprecated(since = "2025", forRemoval = true)
|
||||
public void setLeftBumper(boolean state) {
|
||||
setRawButton(XboxController.Button.kLeftBumper.value, state);
|
||||
}
|
||||
|
||||
/**
|
||||
* Change the value of the right bumper on the joystick.
|
||||
*
|
||||
* @param state the new value
|
||||
* @deprecated Use {@link setRightBumperButton} instead
|
||||
*/
|
||||
@Deprecated(since = "2025", forRemoval = true)
|
||||
public void setRightBumper(boolean state) {
|
||||
setRawButton(XboxController.Button.kRightBumper.value, state);
|
||||
}
|
||||
{% elif ConsoleName == "PS4" %}
|
||||
/**
|
||||
* Change the value of the touchpad button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
* @deprecated Use {@link setTouchpadButton} instead
|
||||
*/
|
||||
@Deprecated(since = "2025", forRemoval = true)
|
||||
public void setTouchpad(boolean value) {
|
||||
setRawButton(PS4Controller.Button.kTouchpad.value, value);
|
||||
}
|
||||
{% elif ConsoleName == "PS5" %}
|
||||
/**
|
||||
* Change the value of the touchpad button on the controller.
|
||||
*
|
||||
* @param value the new value
|
||||
* @deprecated Use {@link setTouchpadButton} instead
|
||||
*/
|
||||
@Deprecated(since = "2025", forRemoval = true)
|
||||
public void setTouchpad(boolean value) {
|
||||
setRawButton(PS5Controller.Button.kTouchpad.value, value);
|
||||
}
|
||||
{% endif -%}
|
||||
}
|
||||
@@ -0,0 +1,48 @@
|
||||
// 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.
|
||||
|
||||
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
|
||||
|
||||
package edu.wpi.first.wpilibj.motorcontrol;
|
||||
|
||||
import edu.wpi.first.hal.FRCNetComm.tResourceType;
|
||||
import edu.wpi.first.hal.HAL;
|
||||
import edu.wpi.first.wpilibj.PWM;
|
||||
|
||||
/**
|
||||
* {{ Manufacturer }} {{ DisplayName }} Motor Controller.
|
||||
*
|
||||
* <p>Note that the {{ DisplayName }} uses the following bounds for PWM values. These values should work
|
||||
* reasonably well for most controllers, but if users experience issues such as asymmetric behavior
|
||||
* around the deadband or inability to saturate the controller in either direction, calibration is
|
||||
* recommended. The calibration procedure can be found in the {{ DisplayName }} User Manual available from
|
||||
* {{ Manufacturer }}.
|
||||
*
|
||||
* <ul>
|
||||
* <li>{{ "{:.3f}".format(pulse_width_ms.max) }}ms = full "forward"
|
||||
* <li>{{ "{:.3f}".format(pulse_width_ms.deadbandMax) }}ms = the "high end" of the deadband range
|
||||
* <li>{{ "{:.3f}".format(pulse_width_ms.center) }}ms = center of the deadband range (off)
|
||||
* <li>{{ "{:.3f}".format(pulse_width_ms.deadbandMin) }}ms = the "low end" of the deadband range
|
||||
* <li>{{ "{:.3f}".format(pulse_width_ms.min) }}ms = full "reverse"
|
||||
* </ul>
|
||||
*/
|
||||
public class {{ name }} extends PWMMotorController {
|
||||
/**
|
||||
* Constructor.
|
||||
*
|
||||
* @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are on-board, 10-19
|
||||
* are on the MXP port
|
||||
*/
|
||||
@SuppressWarnings("this-escape")
|
||||
public {{ name }}(final int channel) {
|
||||
super("{{ name }}", channel);
|
||||
|
||||
m_pwm.setBoundsMicroseconds({{ (pulse_width_ms.max * 1000) | int }}, {{ (pulse_width_ms.deadbandMax * 1000) | int }}, {{ (pulse_width_ms.center * 1000) | int }}, {{ (pulse_width_ms.deadbandMin * 1000) | int }}, {{ (pulse_width_ms.min * 1000) | int }});
|
||||
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k{{ PeriodMultiplier | default("1", true)}}X);
|
||||
m_pwm.setSpeed(0.0);
|
||||
m_pwm.setZeroLatch();
|
||||
|
||||
HAL.report(tResourceType.kResourceType_{{ ResourceName }}, getChannel() + 1);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user