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

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h

@@ -9,15 +9,29 @@
 #include "frc2/command/CommandScheduler.h"
 
 namespace frc2 {
+
 /**
- * A subclass of {@link GenericHID} with {@link Trigger} factories for
+ * A version of {@link frc::GenericHID} with {@link Trigger} factories for
  * command-based.
  *
  * @see GenericHID
  */
-class CommandGenericHID : public frc::GenericHID {
+class CommandGenericHID {
  public:
-  using GenericHID::GenericHID;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandGenericHID(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::GenericHID& GetHID();
 
   /**
    * Constructs an event instance around this button's digital signal.
@@ -215,5 +229,8 @@ class CommandGenericHID : public frc::GenericHID {
       int axis, double threshold,
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+ private:
+  frc::GenericHID m_hid;
 };
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h

@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link Joystick} with {@link Trigger} factories for
+ * A version of {@link frc::Joystick} with {@link Trigger} factories for
  * command-based.
  *
- * @see Joystick
+ * @see frc::Joystick
  */
-class CommandJoystick : public frc::Joystick {
+class CommandJoystick : public CommandGenericHID {
  public:
-  using Joystick::Joystick;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandJoystick(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @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.
+   * @return the wrapped GenericHID object
    */
-  class Trigger Button(
-      int button, frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                             .GetDefaultButtonLoop()) const;
+  frc::Joystick& GetHID();
 
   /**
    * Constructs an event instance around the trigger button's digital signal.
@@ -54,5 +55,22 @@ class CommandJoystick : public frc::Joystick {
    */
   class Trigger Top(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
+  /**
+   * Get the magnitude of the direction vector formed by the joystick's
+   * current position relative to its origin.
+   *
+   * @return The magnitude of the direction vector
+   */
+  double GetMagnitude() const;
+
+  /**
+   * Get the direction of the vector formed by the joystick and its origin.
+   *
+   * @return The direction of the vector.
+   */
+  units::radian_t GetDirection() const;
+
+ private:
+  frc::Joystick m_hid;
 };
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS4Controller.h

@@ -7,17 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link PS4Controller} with {@link Trigger} factories for
+ * A version of {@link frc::PS4Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see PS4Controller
+ * @see frc::PS4Controller
  */
-class CommandPS4Controller : public frc::PS4Controller {
+class CommandPS4Controller : public frc2::CommandGenericHID {
  public:
-  using PS4Controller::PS4Controller;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandPS4Controller(int port);
+
+  /**
+   * Get the underlying GenericHID object.
+   *
+   * @return the wrapped GenericHID object
+   */
+  frc::PS4Controller& GetHID();
 
   /**
    * Constructs an event instance around this button's digital signal.
@@ -174,5 +188,52 @@ class CommandPS4Controller : public frc::PS4Controller {
    */
   Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the R2 axis value of the controller. Note that this axis is bound to
+   * the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double GetR2Axis();
+
+  /**
+   * Get the L2 axis value of the controller. Note that this axis is bound to
+   * the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double GetL2Axis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::PS4Controller m_hid;
 };
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandPS5Controller.h

@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link PS5Controller} with {@link Trigger} factories for
+ * A version of {@link frc::PS5Controller} with {@link Trigger} factories for
  * command-based.
  *
- * @see PS5Controller
+ * @see frc::PS5Controller
  */
-class CommandPS5Controller : public frc::PS5Controller {
+class CommandPS5Controller : public CommandGenericHID {
  public:
-  using PS5Controller::PS5Controller;
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged
+   * into.
+   */
+  explicit CommandPS5Controller(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @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.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::PS5Controller& GetHID();
 
   /**
    * Constructs an event instance around the square button's digital signal.
@@ -174,5 +175,52 @@ class CommandPS5Controller : public frc::PS5Controller {
    */
   Trigger Touchpad(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                               .GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the R2 axis value of the controller. Note that this axis is bound to
+   * the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double GetR2Axis();
+
+  /**
+   * Get the L2 axis value of the controller. Note that this axis is bound to
+   * the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return the axis value.
+   */
+  double GetL2Axis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::PS5Controller m_hid;
 };
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandStadiaController.h

@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link StadiaController} with {@link Trigger} factories for
+ * A version of {@link frc::StadiaController} with {@link Trigger} factories for
  * command-based.
  *
- * @see StadiaController
+ * @see frc::StadiaController
  */
-class CommandStadiaController : public frc::StadiaController {
+class CommandStadiaController : public CommandGenericHID {
  public:
-  using StadiaController::StadiaController;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandStadiaController(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @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.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::StadiaController& GetHID();
 
   /**
    * Constructs an event instance around the left bumper's digital signal.
@@ -197,5 +198,36 @@ class CommandStadiaController : public frc::StadiaController {
   Trigger RightTrigger(
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetLeftX() const;
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetRightX() const;
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetLeftY() const;
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return the axis value
+   */
+  double GetRightY() const;
+
+ private:
+  frc::StadiaController m_hid;
 };
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandXboxController.h

@@ -7,30 +7,31 @@
 
 #include "Trigger.h"
 #include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/CommandGenericHID.h"
 
 namespace frc2 {
 /**
- * A version of {@link XboxController} with {@link Trigger} factories for
+ * A version of {@link frc::XboxController} with {@link Trigger} factories for
  * command-based.
  *
- * @see XboxController
+ * @see frc::XboxController
  */
-class CommandXboxController : public frc::XboxController {
+class CommandXboxController : CommandGenericHID {
  public:
-  using XboxController::XboxController;
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is
+   * plugged into.
+   */
+  explicit CommandXboxController(int port);
 
   /**
-   * Constructs an event instance around this button's digital signal.
+   * Get the underlying GenericHID object.
    *
-   * @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.
+   * @return the wrapped GenericHID object
    */
-  Trigger Button(int button,
-                 frc::EventLoop* loop = CommandScheduler::GetInstance()
-                                            .GetDefaultButtonLoop()) const;
+  frc::XboxController& GetHID();
 
   /**
    * Constructs an event instance around the left bumper's digital signal.
@@ -176,5 +177,52 @@ class CommandXboxController : public frc::XboxController {
       double threshold = 0.5,
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
+  /**
+   * Get the right trigger (RT) axis value of the controller. Note that this
+   * axis is bound to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetRightTriggerAxis();
+
+  /**
+   * Get the left trigger (LT) axis value of the controller. Note that this axis
+   * is bound to the range of [0, 1] as opposed to the usual [-1, 1].
+   *
+   * @return The axis value.
+   */
+  double GetLeftTriggerAxis();
+
+  /**
+   * Get the Y axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightY();
+
+  /**
+   * Get the Y axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftY();
+
+  /**
+   * Get the X axis value of right side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetRightX();
+
+  /**
+   * Get the X axis value of left side of the controller.
+   *
+   * @return The axis value.
+   */
+  double GetLeftX();
+
+ private:
+  frc::XboxController m_hid;
 };
 }  // namespace frc2