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[commands] GenericHIDController: use composition in C++ (#6296)

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This commit is contained in:
Jade
2024-05-25 07:36:05 +08:00
committed by GitHub
parent 221d568bd9
commit f1e072fc98
12 changed files with 469 additions and 129 deletions
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14
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
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@@ -6,8 +6,14 @@
using namespace frc2;
CommandGenericHID::CommandGenericHID(int port) : m_hid{port} {}
frc::GenericHID& CommandGenericHID::GetHID() {
return m_hid;
}
Trigger CommandGenericHID::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
return m_hid.Button(button, loop).CastTo<Trigger>();
}
Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
@@ -16,7 +22,7 @@ Trigger CommandGenericHID::POV(int angle, frc::EventLoop* loop) const {
Trigger CommandGenericHID::POV(int pov, int angle, frc::EventLoop* loop) const {
return Trigger(loop,
[this, pov, angle] { return this->GetPOV(pov) == angle; });
[this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
}
Trigger CommandGenericHID::POVUp(frc::EventLoop* loop) const {
@@ -58,13 +64,13 @@ Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
frc::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) < threshold;
return m_hid.GetRawAxis(axis) < threshold;
});
}
Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
frc::EventLoop* loop) const {
return Trigger(loop, [this, axis, threshold]() {
return this->GetRawAxis(axis) > threshold;
return m_hid.GetRawAxis(axis) > threshold;
});
}

19
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp
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@@ -6,14 +6,25 @@
using namespace frc2;
Trigger CommandJoystick::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<class Trigger>();
CommandJoystick::CommandJoystick(int port)
: CommandGenericHID(port), m_hid{frc::Joystick(port)} {}
frc::Joystick& CommandJoystick::GetHID() {
return m_hid;
}
Trigger CommandJoystick::Trigger(frc::EventLoop* loop) const {
return Joystick::Trigger(loop).CastTo<class Trigger>();
return m_hid.Trigger(loop).CastTo<class Trigger>();
}
Trigger CommandJoystick::Top(frc::EventLoop* loop) const {
return Joystick::Top(loop).CastTo<class Trigger>();
return m_hid.Top(loop).CastTo<class Trigger>();
}
double CommandJoystick::GetMagnitude() const {
return m_hid.GetMagnitude();
}
units::radian_t CommandJoystick::GetDirection() const {
return m_hid.GetDirection();
}

57
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS4Controller.cpp
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@@ -6,58 +6,85 @@
using namespace frc2;
Trigger CommandPS4Controller::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
CommandPS4Controller::CommandPS4Controller(int port)
: CommandGenericHID(port), m_hid{frc::PS4Controller(port)} {}
frc::PS4Controller& CommandPS4Controller::GetHID() {
return m_hid;
}
Trigger CommandPS4Controller::Square(frc::EventLoop* loop) const {
return PS4Controller::Square(loop).CastTo<Trigger>();
return m_hid.Square(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Cross(frc::EventLoop* loop) const {
return PS4Controller::Cross(loop).CastTo<Trigger>();
return m_hid.Cross(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Circle(frc::EventLoop* loop) const {
return PS4Controller::Circle(loop).CastTo<Trigger>();
return m_hid.Circle(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Triangle(frc::EventLoop* loop) const {
return PS4Controller::Triangle(loop).CastTo<Trigger>();
return m_hid.Triangle(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::L1(frc::EventLoop* loop) const {
return PS4Controller::L1(loop).CastTo<Trigger>();
return m_hid.L1(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::R1(frc::EventLoop* loop) const {
return PS4Controller::R1(loop).CastTo<Trigger>();
return m_hid.R1(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::L2(frc::EventLoop* loop) const {
return PS4Controller::L2(loop).CastTo<Trigger>();
return m_hid.L2(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::R2(frc::EventLoop* loop) const {
return PS4Controller::R2(loop).CastTo<Trigger>();
return m_hid.R2(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Options(frc::EventLoop* loop) const {
return PS4Controller::Options(loop).CastTo<Trigger>();
return m_hid.Options(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::L3(frc::EventLoop* loop) const {
return PS4Controller::L3(loop).CastTo<Trigger>();
return m_hid.L3(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::R3(frc::EventLoop* loop) const {
return PS4Controller::R3(loop).CastTo<Trigger>();
return m_hid.R3(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::PS(frc::EventLoop* loop) const {
return PS4Controller::PS(loop).CastTo<Trigger>();
return m_hid.PS(loop).CastTo<Trigger>();
}
Trigger CommandPS4Controller::Touchpad(frc::EventLoop* loop) const {
return PS4Controller::Touchpad(loop).CastTo<Trigger>();
return m_hid.Touchpad(loop).CastTo<Trigger>();
}
double CommandPS4Controller::GetR2Axis() {
return m_hid.GetR2Axis();
}
double CommandPS4Controller::GetL2Axis() {
return m_hid.GetL2Axis();
}
double CommandPS4Controller::GetRightY() {
return m_hid.GetRightY();
}
double CommandPS4Controller::GetLeftY() {
return m_hid.GetLeftY();
}
double CommandPS4Controller::GetRightX() {
return m_hid.GetRightX();
}
double CommandPS4Controller::GetLeftX() {
return m_hid.GetLeftX();
}

57
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandPS5Controller.cpp
View File

@@ -6,58 +6,85 @@
using namespace frc2;
Trigger CommandPS5Controller::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
CommandPS5Controller::CommandPS5Controller(int port)
: CommandGenericHID(port), m_hid{frc::PS5Controller(port)} {}
frc::PS5Controller& CommandPS5Controller::GetHID() {
return m_hid;
}
Trigger CommandPS5Controller::Square(frc::EventLoop* loop) const {
return PS5Controller::Square(loop).CastTo<Trigger>();
return m_hid.Square(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::Cross(frc::EventLoop* loop) const {
return PS5Controller::Cross(loop).CastTo<Trigger>();
return m_hid.Cross(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::Circle(frc::EventLoop* loop) const {
return PS5Controller::Circle(loop).CastTo<Trigger>();
return m_hid.Circle(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::Triangle(frc::EventLoop* loop) const {
return PS5Controller::Triangle(loop).CastTo<Trigger>();
return m_hid.Triangle(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::L1(frc::EventLoop* loop) const {
return PS5Controller::L1(loop).CastTo<Trigger>();
return m_hid.L1(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::R1(frc::EventLoop* loop) const {
return PS5Controller::R1(loop).CastTo<Trigger>();
return m_hid.R1(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::L2(frc::EventLoop* loop) const {
return PS5Controller::L2(loop).CastTo<Trigger>();
return m_hid.L2(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::R2(frc::EventLoop* loop) const {
return PS5Controller::R2(loop).CastTo<Trigger>();
return m_hid.R2(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::Options(frc::EventLoop* loop) const {
return PS5Controller::Options(loop).CastTo<Trigger>();
return m_hid.Options(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::L3(frc::EventLoop* loop) const {
return PS5Controller::L3(loop).CastTo<Trigger>();
return m_hid.L3(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::R3(frc::EventLoop* loop) const {
return PS5Controller::R3(loop).CastTo<Trigger>();
return m_hid.R3(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::PS(frc::EventLoop* loop) const {
return PS5Controller::PS(loop).CastTo<Trigger>();
return m_hid.PS(loop).CastTo<Trigger>();
}
Trigger CommandPS5Controller::Touchpad(frc::EventLoop* loop) const {
return PS5Controller::Touchpad(loop).CastTo<Trigger>();
return m_hid.Touchpad(loop).CastTo<Trigger>();
}
double CommandPS5Controller::GetR2Axis() {
return m_hid.GetR2Axis();
}
double CommandPS5Controller::GetL2Axis() {
return m_hid.GetL2Axis();
}
double CommandPS5Controller::GetRightY() {
return m_hid.GetRightY();
}
double CommandPS5Controller::GetLeftY() {
return m_hid.GetLeftY();
}
double CommandPS5Controller::GetRightX() {
return m_hid.GetRightX();
}
double CommandPS5Controller::GetLeftX() {
return m_hid.GetLeftX();
}

54
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandStadiaController.cpp
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@@ -6,67 +6,85 @@
using namespace frc2;
Trigger CommandStadiaController::Button(int button,
frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
CommandStadiaController::CommandStadiaController(int port)
: CommandGenericHID(port), m_hid{frc::StadiaController(port)} {}
frc::StadiaController& CommandStadiaController::GetHID() {
return m_hid;
}
Trigger CommandStadiaController::LeftBumper(frc::EventLoop* loop) const {
return StadiaController::LeftBumper(loop).CastTo<Trigger>();
return m_hid.LeftBumper(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::RightBumper(frc::EventLoop* loop) const {
return StadiaController::RightBumper(loop).CastTo<Trigger>();
return m_hid.RightBumper(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::LeftStick(frc::EventLoop* loop) const {
return StadiaController::LeftStick(loop).CastTo<Trigger>();
return m_hid.LeftStick(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::RightStick(frc::EventLoop* loop) const {
return StadiaController::RightStick(loop).CastTo<Trigger>();
return m_hid.RightStick(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::A(frc::EventLoop* loop) const {
return StadiaController::A(loop).CastTo<Trigger>();
return m_hid.A(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::B(frc::EventLoop* loop) const {
return StadiaController::B(loop).CastTo<Trigger>();
return m_hid.B(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::X(frc::EventLoop* loop) const {
return StadiaController::X(loop).CastTo<Trigger>();
return m_hid.X(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Y(frc::EventLoop* loop) const {
return StadiaController::Y(loop).CastTo<Trigger>();
return m_hid.Y(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Ellipses(frc::EventLoop* loop) const {
return StadiaController::Ellipses(loop).CastTo<Trigger>();
return m_hid.Ellipses(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Hamburger(frc::EventLoop* loop) const {
return StadiaController::Hamburger(loop).CastTo<Trigger>();
return m_hid.Hamburger(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Stadia(frc::EventLoop* loop) const {
return StadiaController::Stadia(loop).CastTo<Trigger>();
return m_hid.Stadia(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Google(frc::EventLoop* loop) const {
return StadiaController::Google(loop).CastTo<Trigger>();
return m_hid.Google(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::Frame(frc::EventLoop* loop) const {
return StadiaController::Frame(loop).CastTo<Trigger>();
return m_hid.Frame(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::LeftTrigger(frc::EventLoop* loop) const {
return StadiaController::LeftTrigger(loop).CastTo<Trigger>();
return m_hid.LeftTrigger(loop).CastTo<Trigger>();
}
Trigger CommandStadiaController::RightTrigger(frc::EventLoop* loop) const {
return StadiaController::RightTrigger(loop).CastTo<Trigger>();
return m_hid.RightTrigger(loop).CastTo<Trigger>();
}
double CommandStadiaController::GetLeftX() const {
return m_hid.GetLeftX();
}
double CommandStadiaController::GetRightX() const {
return m_hid.GetRightX();
}
double CommandStadiaController::GetLeftY() const {
return m_hid.GetLeftY();
}
double CommandStadiaController::GetRightY() const {
return m_hid.GetRightY();
}

55
wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandXboxController.cpp
View File

@@ -6,56 +6,83 @@
using namespace frc2;
Trigger CommandXboxController::Button(int button, frc::EventLoop* loop) const {
return GenericHID::Button(button, loop).CastTo<Trigger>();
CommandXboxController::CommandXboxController(int port)
: CommandGenericHID(port), m_hid{frc::XboxController(port)} {}
frc::XboxController& CommandXboxController::GetHID() {
return m_hid;
}
Trigger CommandXboxController::LeftBumper(frc::EventLoop* loop) const {
return XboxController::LeftBumper(loop).CastTo<Trigger>();
return m_hid.LeftBumper(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::RightBumper(frc::EventLoop* loop) const {
return XboxController::RightBumper(loop).CastTo<Trigger>();
return m_hid.RightBumper(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::LeftStick(frc::EventLoop* loop) const {
return XboxController::LeftStick(loop).CastTo<Trigger>();
return m_hid.LeftStick(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::RightStick(frc::EventLoop* loop) const {
return XboxController::RightStick(loop).CastTo<Trigger>();
return m_hid.RightStick(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::A(frc::EventLoop* loop) const {
return XboxController::A(loop).CastTo<Trigger>();
return m_hid.A(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::B(frc::EventLoop* loop) const {
return XboxController::B(loop).CastTo<Trigger>();
return m_hid.B(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::X(frc::EventLoop* loop) const {
return XboxController::X(loop).CastTo<Trigger>();
return m_hid.X(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::Y(frc::EventLoop* loop) const {
return XboxController::Y(loop).CastTo<Trigger>();
return m_hid.Y(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
return XboxController::Back(loop).CastTo<Trigger>();
return m_hid.Back(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
return XboxController::Start(loop).CastTo<Trigger>();
return m_hid.Start(loop).CastTo<Trigger>();
}
Trigger CommandXboxController::LeftTrigger(double threshold,
frc::EventLoop* loop) const {
return XboxController::LeftTrigger(threshold, loop).CastTo<Trigger>();
return m_hid.LeftTrigger(threshold, loop).CastTo<Trigger>();
}
Trigger CommandXboxController::RightTrigger(double threshold,
frc::EventLoop* loop) const {
return XboxController::RightTrigger(threshold, loop).CastTo<Trigger>();
return m_hid.RightTrigger(threshold, loop).CastTo<Trigger>();
}
double CommandXboxController::GetRightTriggerAxis() {
return m_hid.GetRightTriggerAxis();
}
double CommandXboxController::GetLeftTriggerAxis() {
return m_hid.GetLeftTriggerAxis();
}
double CommandXboxController::GetRightY() {
return m_hid.GetRightY();
}
double CommandXboxController::GetLeftY() {
return m_hid.GetLeftY();
}
double CommandXboxController::GetRightX() {
return m_hid.GetRightX();
}
double CommandXboxController::GetLeftX() {
return m_hid.GetLeftX();
}