[wpilib] Add BooleanEvent/Trigger factories on HID classes (#4247)

2026-06-22 01:11:42 +00:00 · 2022-06-14 08:48:16 +03:00
parent 9b1bf5c7f1
commit fd884581e4
24 changed files with 1717 additions and 1 deletions
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
@@ -0,0 +1,42 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link GenericHID} with {@link Trigger} factories for command-based.
+ *
+ * @see GenericHID
+ */
+public class CommandGenericHID extends GenericHID {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public CommandGenericHID(int port) {
+    super(port);
+  }
+
+  @Override
+  public Trigger button(int button, EventLoop loop) {
+    return super.button(button, loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(int, EventLoop)
+   */
+  public Trigger button(int button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+}
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java
@@ -0,0 +1,74 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link Joystick} with {@link Trigger} factories for command-based.
+ *
+ * @see Joystick
+ */
+public class CommandJoystick extends Joystick {
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandJoystick(int port) {
+    super(port);
+  }
+
+  @Override
+  public Trigger button(int button, EventLoop loop) {
+    return super.button(button, loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @return an event instance representing the button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #button(int, EventLoop)
+   */
+  public Trigger button(int button) {
+    return button(button, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @return an event instance representing the trigger button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #trigger(EventLoop)
+   */
+  public Trigger trigger() {
+    return trigger(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger trigger(EventLoop loop) {
+    return super.trigger(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @return an event instance representing the top button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #top(EventLoop)
+   */
+  public Trigger top() {
+    return top(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger top(EventLoop loop) {
+    return super.top(loop).castTo(Trigger::new);
+  }
+}
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java
@@ -0,0 +1,221 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.PS4Controller;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link PS4Controller} with {@link Trigger} factories for command-based.
+ *
+ * @see PS4Controller
+ */
+@SuppressWarnings("MethodName")
+public class CommandPS4Controller extends PS4Controller {
+  /**
+   * Construct an instance of a device.
+   *
+   * @param port The port index on the Driver Station that the device is plugged into.
+   */
+  public CommandPS4Controller(int port) {
+    super(port);
+  }
+
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @return an event instance representing the L2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L2() {
+    return L2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L2(EventLoop loop) {
+    return super.L2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @return an event instance representing the R2 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R2() {
+    return R2(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R2(EventLoop loop) {
+    return super.R2(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @return an event instance representing the L1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L1() {
+    return L1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L1(EventLoop loop) {
+    return super.L1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @return an event instance representing the R1 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R1() {
+    return R1(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R1(EventLoop loop) {
+    return super.R1(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @return an event instance representing the L3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger L3() {
+    return L3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger L3(EventLoop loop) {
+    return super.L3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @return an event instance representing the R3 button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger R3() {
+    return R3(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger R3(EventLoop loop) {
+    return super.R3(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @return an event instance representing the square button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger square() {
+    return square(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger square(EventLoop loop) {
+    return super.square(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @return an event instance representing the cross button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger cross() {
+    return cross(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger cross(EventLoop loop) {
+    return super.cross(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @return an event instance representing the circle button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger circle() {
+    return circle(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger circle(EventLoop loop) {
+    return super.circle(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the share button's digital signal.
+   *
+   * @return an event instance representing the share button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger share() {
+    return share(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger share(EventLoop loop) {
+    return super.share(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @return an event instance representing the PS button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger PS() {
+    return PS(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger PS(EventLoop loop) {
+    return super.PS(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @return an event instance representing the options button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger options() {
+    return options(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger options(EventLoop loop) {
+    return super.options(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @return an event instance representing the touchpad's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   */
+  public Trigger touchpad() {
+    return touchpad(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger touchpad(EventLoop loop) {
+    return super.touchpad(loop).castTo(Trigger::new);
+  }
+}
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java
@@ -0,0 +1,186 @@
+// 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.
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.event.EventLoop;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * A subclass of {@link XboxController} with {@link Trigger} factories for command-based.
+ *
+ * @see XboxController
+ */
+@SuppressWarnings("MethodName")
+public class CommandXboxController extends XboxController {
+  /**
+   * Construct an instance of a controller.
+   *
+   * @param port The port index on the Driver Station that the controller is plugged into.
+   */
+  public CommandXboxController(int port) {
+    super(port);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @return an event instance representing the left bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftBumper(EventLoop)
+   */
+  public Trigger leftBumper() {
+    return leftBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger leftBumper(EventLoop loop) {
+    return super.leftBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @return an event instance representing the right bumper's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightBumper(EventLoop)
+   */
+  public Trigger rightBumper() {
+    return rightBumper(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger rightBumper(EventLoop loop) {
+    return super.rightBumper(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #leftStick(EventLoop)
+   */
+  public Trigger leftStick() {
+    return leftStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger leftStick(EventLoop loop) {
+    return super.leftStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     {@link CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #rightStick(EventLoop)
+   */
+  public Trigger rightStick() {
+    return rightStick(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger rightStick(EventLoop loop) {
+    return super.rightStick(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @return an event instance representing the X button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #x(EventLoop)
+   */
+  public Trigger x() {
+    return x(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger x(EventLoop loop) {
+    return super.x(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @return an event instance representing the Y button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #y(EventLoop)
+   */
+  public Trigger y() {
+    return y(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger y(EventLoop loop) {
+    return super.y(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @return an event instance representing the A button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #a(EventLoop)
+   */
+  public Trigger a() {
+    return a(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger a(EventLoop loop) {
+    return super.a(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @return an event instance representing the B button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #b(EventLoop)
+   */
+  public Trigger b() {
+    return b(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger b(EventLoop loop) {
+    return super.b(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @return an event instance representing the start button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #start(EventLoop)
+   */
+  public Trigger start() {
+    return start(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger start(EventLoop loop) {
+    return super.start(loop).castTo(Trigger::new);
+  }
+
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @return an event instance representing the back button's digital signal attached to the {@link
+   *     CommandScheduler#getDefaultButtonLoop() default scheduler button loop}.
+   * @see #back(EventLoop)
+   */
+  public Trigger back() {
+    return back(CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
+  @Override
+  public Trigger back(EventLoop loop) {
+    return super.back(loop).castTo(Trigger::new);
+  }
+}