[hal,wpilib,cmd] Update POVs to use enums (#7978)

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -315,14 +315,14 @@ double DriverStation::GetStickAxis(int stick, int axis) {
   return axes.axes[axis];
 }
 
-int DriverStation::GetStickPOV(int stick, int pov) {
+DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
   if (stick < 0 || stick >= kJoystickPorts) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
-    return -1;
+    return kCenter;
   }
   if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) {
     FRC_ReportError(warn::BadJoystickAxis, "POV {} out of range", pov);
-    return -1;
+    return kCenter;
   }
 
   HAL_JoystickPOVs povs;
@@ -333,10 +333,10 @@ int DriverStation::GetStickPOV(int stick, int pov) {
         "Joystick POV {} missing (max {}), check if all controllers are "
         "plugged in",
         pov, povs.count);
-    return -1;
+    return kCenter;
   }
 
-  return povs.povs[pov];
+  return static_cast<POVDirection>(povs.povs[pov]);
 }
 
 int DriverStation::GetStickButtons(int stick) {

wpilibc/src/main/native/cpp/GenericHID.cpp

@@ -42,53 +42,55 @@ double GenericHID::GetRawAxis(int axis) const {
   return DriverStation::GetStickAxis(m_port, axis);
 }
 
-int GenericHID::GetPOV(int pov) const {
+DriverStation::POVDirection GenericHID::GetPOV(int pov) const {
   return DriverStation::GetStickPOV(m_port, pov);
 }
 
-BooleanEvent GenericHID::POV(int angle, EventLoop* loop) const {
+BooleanEvent GenericHID::POV(DriverStation::POVDirection angle,
+                             EventLoop* loop) const {
   return POV(0, angle, loop);
 }
 
-BooleanEvent GenericHID::POV(int pov, int angle, EventLoop* loop) const {
+BooleanEvent GenericHID::POV(int pov, DriverStation::POVDirection angle,
+                             EventLoop* loop) const {
   return BooleanEvent(
       loop, [this, pov, angle] { return this->GetPOV(pov) == angle; });
 }
 
 BooleanEvent GenericHID::POVUp(EventLoop* loop) const {
-  return POV(0, loop);
+  return POV(DriverStation::kUp, loop);
 }
 
 BooleanEvent GenericHID::POVUpRight(EventLoop* loop) const {
-  return POV(45, loop);
+  return POV(DriverStation::kUpRight, loop);
 }
 
 BooleanEvent GenericHID::POVRight(EventLoop* loop) const {
-  return POV(90, loop);
+  return POV(DriverStation::kRight, loop);
 }
 
 BooleanEvent GenericHID::POVDownRight(EventLoop* loop) const {
-  return POV(135, loop);
+  return POV(DriverStation::kDownRight, loop);
 }
 
 BooleanEvent GenericHID::POVDown(EventLoop* loop) const {
-  return POV(180, loop);
+  return POV(DriverStation::kDown, loop);
 }
 
 BooleanEvent GenericHID::POVDownLeft(EventLoop* loop) const {
-  return POV(225, loop);
+  return POV(DriverStation::kDownLeft, loop);
 }
 
 BooleanEvent GenericHID::POVLeft(EventLoop* loop) const {
-  return POV(270, loop);
+  return POV(DriverStation::kLeft, loop);
 }
 
 BooleanEvent GenericHID::POVUpLeft(EventLoop* loop) const {
-  return POV(315, loop);
+  return POV(DriverStation::kUpLeft, loop);
 }
 
 BooleanEvent GenericHID::POVCenter(EventLoop* loop) const {
-  return POV(360, loop);
+  return POV(DriverStation::kCenter, loop);
 }
 
 BooleanEvent GenericHID::AxisLessThan(int axis, double threshold,

wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp

@@ -205,8 +205,9 @@ void DriverStationSim::SetJoystickAxis(int stick, int axis, double value) {
   HALSIM_SetJoystickAxis(stick, axis, value);
 }
 
-void DriverStationSim::SetJoystickPOV(int stick, int pov, int value) {
-  HALSIM_SetJoystickPOV(stick, pov, value);
+void DriverStationSim::SetJoystickPOV(int stick, int pov,
+                                      DriverStation::POVDirection value) {
+  HALSIM_SetJoystickPOV(stick, pov, static_cast<HAL_JoystickPOV>(value));
 }
 
 void DriverStationSim::SetJoystickButtons(int stick, uint32_t buttons) {

wpilibc/src/main/native/cpp/simulation/GenericHIDSim.cpp

@@ -4,6 +4,7 @@
 
 #include "frc/simulation/GenericHIDSim.h"
 
+#include "frc/DriverStation.h"
 #include "frc/GenericHID.h"
 #include "frc/simulation/DriverStationSim.h"
 
@@ -27,11 +28,11 @@ void GenericHIDSim::SetRawAxis(int axis, double value) {
   DriverStationSim::SetJoystickAxis(m_port, axis, value);
 }
 
-void GenericHIDSim::SetPOV(int pov, int value) {
+void GenericHIDSim::SetPOV(int pov, DriverStation::POVDirection value) {
   DriverStationSim::SetJoystickPOV(m_port, pov, value);
 }
 
-void GenericHIDSim::SetPOV(int value) {
+void GenericHIDSim::SetPOV(DriverStation::POVDirection value) {
   SetPOV(0, value);
 }
 

wpilibc/src/main/native/include/frc/DriverStation.h

@@ -4,9 +4,12 @@
 
 #pragma once
 
+#include <frc/geometry/Rotation2d.h>
+
 #include <optional>
 #include <string>
 
+#include <hal/DriverStationTypes.h>
 #include <units/time.h>
 #include <wpi/Synchronization.h>
 
@@ -46,6 +49,62 @@ class DriverStation final {
     kElimination
   };
 
+  /**
+   * A controller POV direction.
+   */
+  enum POVDirection : uint8_t {
+    /// POV center.
+    kCenter = HAL_JoystickPOV_kCentered,
+    /// POV up.
+    kUp = HAL_JoystickPOV_kUp,
+    /// POV up right.
+    kUpRight = HAL_JoystickPOV_kRightUp,
+    /// POV right.
+    kRight = HAL_JoystickPOV_kRight,
+    /// POV down right.
+    kDownRight = HAL_JoystickPOV_kRightDown,
+    /// POV down.
+    kDown = HAL_JoystickPOV_kDown,
+    /// POV down left.
+    kDownLeft = HAL_JoystickPOV_kLeftDown,
+    /// POV left.
+    kLeft = HAL_JoystickPOV_kLeft,
+    /// POV up left.
+    kUpLeft = HAL_JoystickPOV_kLeftUp,
+  };
+
+  /**
+   * Gets the angle of a POVDirection.
+   *
+   * @param angle The POVDirection to convert.
+   * @return The angle clockwise from straight up, or std::nullopt if the
+   * POVDirection is kCenter.
+   */
+  static constexpr std::optional<Rotation2d> GetAngle(POVDirection angle) {
+    switch (angle) {
+      case kCenter:
+        return std::nullopt;
+      case kUp:
+        return Rotation2d{0_deg};
+      case kUpRight:
+        return Rotation2d{45_deg};
+      case kRight:
+        return Rotation2d{90_deg};
+      case kDownRight:
+        return Rotation2d{135_deg};
+      case kDown:
+        return Rotation2d{180_deg};
+      case kDownLeft:
+        return Rotation2d{225_deg};
+      case kLeft:
+        return Rotation2d{270_deg};
+      case kUpLeft:
+        return Rotation2d{315_deg};
+      default:
+        return std::nullopt;
+    }
+  }
+
   /// Number of Joystick ports.
   static constexpr int kJoystickPorts = 6;
 
@@ -93,9 +152,9 @@ class DriverStation final {
   /**
    * Get the state of a POV on the joystick.
    *
-   * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+   * @return the angle of the POV.
    */
-  static int GetStickPOV(int stick, int pov);
+  static POVDirection GetStickPOV(int stick, int pov);
 
   /**
    * The state of the buttons on the joystick.

wpilibc/src/main/native/include/frc/GenericHID.h

@@ -8,6 +8,8 @@
 
 #include <string>
 
+#include "frc/DriverStation.h"
+
 namespace frc {
 
 class BooleanEvent;
@@ -141,113 +143,105 @@ class GenericHID {
   double GetRawAxis(int axis) const;
 
   /**
-   * Get the angle in degrees of a POV on the HID.
-   *
-   * The POV angles start at 0 in the up direction, and increase clockwise
-   * (e.g. right is 90, upper-left is 315).
+   * Get the angle of a POV on the HID.
    *
    * @param pov The index of the POV to read (starting at 0)
-   * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
+   * @return the angle of the POV.
    */
-  int GetPOV(int pov = 0) const;
+  DriverStation::POVDirection GetPOV(int pov = 0) const;
 
   /**
    * Constructs a BooleanEvent instance based around this angle of a POV on the
    * HID.
    *
-   * <p>The POV angles start at 0 in the up direction, and increase clockwise
-   * (eg right is 90, upper-left is 315).
-   *
    * @param loop the event loop instance to attach the event to.
-   * @param angle POV angle in degrees, or -1 for the center / not pressed.
+   * @param angle POV angle.
    * @return a BooleanEvent instance based around this angle of a POV on the
    * HID.
    */
-  BooleanEvent POV(int angle, EventLoop* loop) const;
+  BooleanEvent POV(DriverStation::POVDirection angle, EventLoop* loop) const;
 
   /**
    * Constructs a BooleanEvent instance based around this angle of a POV on the
    * HID.
    *
-   * <p>The POV angles start at 0 in the up direction, and increase clockwise
-   * (eg right is 90, upper-left is 315).
-   *
    * @param loop the event loop instance to attach the event to.
    * @param pov   index of the POV to read (starting at 0). Defaults to 0.
-   * @param angle POV angle in degrees, or -1 for the center / not pressed.
+   * @param angle POV angle.
    * @return a BooleanEvent instance based around this angle of a POV on the
    * HID.
    */
-  BooleanEvent POV(int pov, int angle, EventLoop* loop) const;
+  BooleanEvent POV(int pov, DriverStation::POVDirection angle,
+                   EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 0 degree angle (up) of
+   * Constructs a BooleanEvent instance based around the up direction of
    * the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 0 degree angle of a POV on
+   * @return a BooleanEvent instance based around the up direction of a POV on
    * the HID.
    */
   BooleanEvent POVUp(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 45 degree angle (right
-   * up) of the default (index 0) POV on the HID.
+   * Constructs a BooleanEvent instance based around the up right direction
+   * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 45 degree angle of a POV
-   * on the HID.
+   * @return a BooleanEvent instance based around the up right direction of a
+   * POV on the HID.
    */
   BooleanEvent POVUpRight(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 90 degree angle (right)
+   * Constructs a BooleanEvent instance based around the right direction
    * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 90 degree angle of a POV
+   * @return a BooleanEvent instance based around the right direction of a POV
    * on the HID.
    */
   BooleanEvent POVRight(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 135 degree angle (right
-   * down) of the default (index 0) POV on the HID.
+   * Constructs a BooleanEvent instance based around the down right direction
+   * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 135 degree angle of a POV
-   * on the HID.
+   * @return a BooleanEvent instance based around the down right direction of a
+   * POV on the HID.
    */
   BooleanEvent POVDownRight(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 180 degree angle (down)
+   * Constructs a BooleanEvent instance based around the down direction
    * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 180 degree angle of a POV
+   * @return a BooleanEvent instance based around the down direction of a POV
    * on the HID.
    */
   BooleanEvent POVDown(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 225 degree angle (down
-   * left) of the default (index 0) POV on the HID.
+   * Constructs a BooleanEvent instance based around the down left direction
+   * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 225 degree angle of a POV
-   * on the HID.
+   * @return a BooleanEvent instance based around the down left direction of a
+   * POV on the HID.
    */
   BooleanEvent POVDownLeft(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 270 degree angle (left)
+   * Constructs a BooleanEvent instance based around the left direction
    * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 270 degree angle of a POV
+   * @return a BooleanEvent instance based around the left direction of a POV
    * on the HID.
    */
   BooleanEvent POVLeft(EventLoop* loop) const;
 
   /**
-   * Constructs a BooleanEvent instance based around the 315 degree angle (left
-   * up) of the default (index 0) POV on the HID.
+   * Constructs a BooleanEvent instance based around the up left direction
+   * of the default (index 0) POV on the HID.
    *
-   * @return a BooleanEvent instance based around the 315 degree angle of a POV
+   * @return a BooleanEvent instance based around the up left direction of a POV
    * on the HID.
    */
   BooleanEvent POVUpLeft(EventLoop* loop) const;

wpilibc/src/main/native/include/frc/simulation/DriverStationSim.h

@@ -286,9 +286,10 @@ class DriverStationSim {
    *
    * @param stick The joystick number
    * @param pov The POV number
-   * @param value the angle of the POV in degrees, or -1 for not pressed
+   * @param value the angle of the POV
    */
-  static void SetJoystickPOV(int stick, int pov, int value);
+  static void SetJoystickPOV(int stick, int pov,
+                             DriverStation::POVDirection value);
 
   /**
    * Sets the state of all the buttons on a joystick.

wpilibc/src/main/native/include/frc/simulation/GenericHIDSim.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include "frc/DriverStation.h"
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -60,14 +61,14 @@ class GenericHIDSim {
    * @param pov the POV to set
    * @param value the new value
    */
-  void SetPOV(int pov, int value);
+  void SetPOV(int pov, DriverStation::POVDirection value);
 
   /**
    * Set the value of the default POV (port 0).
    *
    * @param value the new value
    */
-  void SetPOV(int value);
+  void SetPOV(DriverStation::POVDirection value);
 
   /**
    * Set the axis count of this device.