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

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -5,6 +5,8 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -119,6 +121,17 @@ public class GenericHID {
     return DriverStation.getStickButtonReleased(m_port, button);
   }
 
+  /**
+   * Constructs an event instance around this button's digital signal.
+   *
+   * @param button the button index
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the button's digital signal attached to the given loop.
+   */
+  public BooleanEvent button(int button, EventLoop loop) {
+    return new BooleanEvent(loop, () -> getRawButton(button));
+  }
+
   /**
    * Get the value of the axis.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from Flight Joysticks connected to the Driver Station.
@@ -233,6 +235,17 @@ public class Joystick extends GenericHID {
     return getRawButtonReleased(ButtonType.kTrigger.value);
   }
 
+  /**
+   * Constructs an event instance around the trigger button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the trigger button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent trigger(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTrigger);
+  }
+
   /**
    * Read the state of the top button on the joystick.
    *
@@ -260,6 +273,17 @@ public class Joystick extends GenericHID {
     return getRawButtonReleased(ButtonType.kTop.value);
   }
 
+  /**
+   * Constructs an event instance around the top button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the top button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent top(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTop);
+  }
+
   /**
    * Get the magnitude of the direction vector formed by the joystick's current position relative to
    * its origin.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PS4Controller.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from PS4 controllers connected to the Driver Station.
@@ -209,6 +211,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR2.value);
   }
 
+  /**
+   * Constructs an event instance around the L2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL2Button);
+  }
+
+  /**
+   * Constructs an event instance around the R2 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R2 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R2(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR2Button);
+  }
+
   /**
    * Read the value of the L1 button on the controller.
    *
@@ -263,6 +289,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR1.value);
   }
 
+  /**
+   * Constructs an event instance around the L1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL1Button);
+  }
+
+  /**
+   * Constructs an event instance around the R1 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R1 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R1(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR1Button);
+  }
+
   /**
    * Read the value of the L3 button (pressing the left analog stick) on the controller.
    *
@@ -317,6 +367,30 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kR3.value);
   }
 
+  /**
+   * Constructs an event instance around the L3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the L3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent L3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getL3Button);
+  }
+
+  /**
+   * Constructs an event instance around the R3 button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the R3 button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent R3(EventLoop loop) {
+    return new BooleanEvent(loop, this::getR3Button);
+  }
+
   /**
    * Read the value of the Square button on the controller.
    *
@@ -344,6 +418,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kSquare.value);
   }
 
+  /**
+   * Constructs an event instance around the square button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the square button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent square(EventLoop loop) {
+    return new BooleanEvent(loop, this::getSquareButton);
+  }
+
   /**
    * Read the value of the Cross button on the controller.
    *
@@ -371,6 +456,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kCross.value);
   }
 
+  /**
+   * Constructs an event instance around the cross button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the cross button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent cross(EventLoop loop) {
+    return new BooleanEvent(loop, this::getCrossButton);
+  }
+
   /**
    * Read the value of the Triangle button on the controller.
    *
@@ -425,6 +521,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kCircle.value);
   }
 
+  /**
+   * Constructs an event instance around the circle button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the circle button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent circle(EventLoop loop) {
+    return new BooleanEvent(loop, this::getCircleButton);
+  }
+
   /**
    * Read the value of the share button on the controller.
    *
@@ -452,6 +559,18 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kShare.value);
   }
 
+  /**
+   * Constructs an event instance around the share button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the share button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent share(EventLoop loop) {
+    return new BooleanEvent(loop, this::getShareButton);
+  }
+
   /**
    * Read the value of the PS button on the controller.
    *
@@ -479,6 +598,18 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kPS.value);
   }
 
+  /**
+   * Constructs an event instance around the PS button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the PS button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent PS(EventLoop loop) {
+    return new BooleanEvent(loop, this::getPSButton);
+  }
+
   /**
    * Read the value of the options button on the controller.
    *
@@ -506,6 +637,17 @@ public class PS4Controller extends GenericHID {
     return getRawButtonReleased(Button.kOptions.value);
   }
 
+  /**
+   * Constructs an event instance around the options button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the options button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent options(EventLoop loop) {
+    return new BooleanEvent(loop, this::getOptionsButton);
+  }
+
   /**
    * Read the value of the touchpad on the controller.
    *
@@ -532,4 +674,15 @@ public class PS4Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
+
+  /**
+   * Constructs an event instance around the touchpad's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the touchpad's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent touchpad(EventLoop loop) {
+    return new BooleanEvent(loop, this::getTouchpad);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.event.BooleanEvent;
+import edu.wpi.first.wpilibj.event.EventLoop;
 
 /**
  * Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
@@ -208,6 +210,28 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
 
+  /**
+   * Constructs an event instance around the right bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right bumper's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent leftBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftBumper);
+  }
+
+  /**
+   * Constructs an event instance around the left bumper's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left bumper's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent rightBumper(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightBumper);
+  }
+
   /**
    * Read the value of the left stick button (LSB) on the controller.
    *
@@ -262,6 +286,28 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kRightStick.value);
   }
 
+  /**
+   * Constructs an event instance around the left stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the left stick button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent leftStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getLeftStickButton);
+  }
+
+  /**
+   * Constructs an event instance around the right stick button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the right stick button's digital signal attached to the
+   *     given loop.
+   */
+  public BooleanEvent rightStick(EventLoop loop) {
+    return new BooleanEvent(loop, this::getRightStickButton);
+  }
+
   /**
    * Read the value of the A button on the controller.
    *
@@ -289,6 +335,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kA.value);
   }
 
+  /**
+   * Constructs an event instance around the A button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the A button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent a(EventLoop loop) {
+    return new BooleanEvent(loop, this::getAButton);
+  }
+
   /**
    * Read the value of the B button on the controller.
    *
@@ -316,6 +374,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kB.value);
   }
 
+  /**
+   * Constructs an event instance around the B button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the B button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent b(EventLoop loop) {
+    return new BooleanEvent(loop, this::getBButton);
+  }
+
   /**
    * Read the value of the X button on the controller.
    *
@@ -343,6 +413,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kX.value);
   }
 
+  /**
+   * Constructs an event instance around the X button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the X button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent x(EventLoop loop) {
+    return new BooleanEvent(loop, this::getXButton);
+  }
+
   /**
    * Read the value of the Y button on the controller.
    *
@@ -370,6 +452,18 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kY.value);
   }
 
+  /**
+   * Constructs an event instance around the Y button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the Y button's digital signal attached to the given
+   *     loop.
+   */
+  @SuppressWarnings("MethodName")
+  public BooleanEvent y(EventLoop loop) {
+    return new BooleanEvent(loop, this::getYButton);
+  }
+
   /**
    * Read the value of the back button on the controller.
    *
@@ -397,6 +491,17 @@ public class XboxController extends GenericHID {
     return getRawButtonReleased(Button.kBack.value);
   }
 
+  /**
+   * Constructs an event instance around the back button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the back button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent back(EventLoop loop) {
+    return new BooleanEvent(loop, this::getBackButton);
+  }
+
   /**
    * Read the value of the start button on the controller.
    *
@@ -423,4 +528,15 @@ public class XboxController extends GenericHID {
   public boolean getStartButtonReleased() {
     return getRawButtonReleased(Button.kStart.value);
   }
+
+  /**
+   * Constructs an event instance around the start button's digital signal.
+   *
+   * @param loop the event loop instance to attach the event to.
+   * @return an event instance representing the start button's digital signal attached to the given
+   *     loop.
+   */
+  public BooleanEvent start(EventLoop loop) {
+    return new BooleanEvent(loop, this::getStartButton);
+  }
 }