mirror of
https://github.com/wpilibsuite/allwpilib
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323 lines
9.1 KiB
C++
323 lines
9.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include <string>
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namespace frc {
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class BooleanEvent;
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class EventLoop;
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/**
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* Handle input from standard HID devices connected to the Driver Station.
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*
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* <p>This class handles standard input that comes from the Driver Station. Each
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* time a value is requested the most recent value is returned. There is a
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* single class instance for each device and the mapping of ports to hardware
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* buttons depends on the code in the Driver Station.
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*/
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class GenericHID {
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public:
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enum RumbleType { kLeftRumble, kRightRumble };
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enum HIDType {
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kUnknown = -1,
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kXInputUnknown = 0,
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kXInputGamepad = 1,
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kXInputWheel = 2,
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kXInputArcadeStick = 3,
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kXInputFlightStick = 4,
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kXInputDancePad = 5,
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kXInputGuitar = 6,
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kXInputGuitar2 = 7,
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kXInputDrumKit = 8,
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kXInputGuitar3 = 11,
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kXInputArcadePad = 19,
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kHIDJoystick = 20,
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kHIDGamepad = 21,
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kHIDDriving = 22,
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kHIDFlight = 23,
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kHID1stPerson = 24
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};
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explicit GenericHID(int port);
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virtual ~GenericHID() = default;
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GenericHID(GenericHID&&) = default;
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GenericHID& operator=(GenericHID&&) = default;
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/**
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* Get the button value (starting at button 1).
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*
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* The buttons are returned in a single 16 bit value with one bit representing
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* the state of each button. The appropriate button is returned as a boolean
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* value.
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*
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* This method returns true if the button is being held down at the time
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* that this method is being called.
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*
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* @param button The button number to be read (starting at 1)
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* @return The state of the button.
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*/
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bool GetRawButton(int button) const;
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/**
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* Whether the button was pressed since the last check. %Button indexes begin
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* at 1.
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*
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* This method returns true if the button went from not pressed to held down
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* since the last time this method was called. This is useful if you only
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* want to call a function once when you press the button.
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*
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* @param button The button index, beginning at 1.
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* @return Whether the button was pressed since the last check.
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*/
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bool GetRawButtonPressed(int button);
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/**
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* Whether the button was released since the last check. %Button indexes begin
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* at 1.
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*
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* This method returns true if the button went from held down to not pressed
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* since the last time this method was called. This is useful if you only
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* want to call a function once when you release the button.
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*
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* @param button The button index, beginning at 1.
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* @return Whether the button was released since the last check.
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*/
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bool GetRawButtonReleased(int button);
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/**
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* Constructs an event instance around this button's digital signal.
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*
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* @param button the button index
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* @param loop the event loop instance to attach the event to.
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* @return an event instance representing the button's digital signal attached
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* to the given loop.
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*/
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BooleanEvent Button(int button, EventLoop* loop) const;
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/**
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* Get the value of the axis.
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*
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* @param axis The axis to read, starting at 0.
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* @return The value of the axis.
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*/
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double GetRawAxis(int axis) const;
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/**
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* Get the angle in degrees of a POV on the HID.
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*
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* The POV angles start at 0 in the up direction, and increase clockwise
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* (e.g. right is 90, upper-left is 315).
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*
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* @param pov The index of the POV to read (starting at 0)
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* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
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*/
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int GetPOV(int pov = 0) const;
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/**
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* Constructs a BooleanEvent instance based around this angle of a POV on the
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* HID.
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*
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* <p>The POV angles start at 0 in the up direction, and increase clockwise
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* (eg right is 90, upper-left is 315).
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*
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* @param loop the event loop instance to attach the event to.
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* @param angle POV angle in degrees, or -1 for the center / not pressed.
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* @return a BooleanEvent instance based around this angle of a POV on the
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* HID.
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*/
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BooleanEvent POV(int angle, EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around this angle of a POV on the
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* HID.
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*
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* <p>The POV angles start at 0 in the up direction, and increase clockwise
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* (eg right is 90, upper-left is 315).
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*
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* @param loop the event loop instance to attach the event to.
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* @param pov index of the POV to read (starting at 0). Defaults to 0.
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* @param angle POV angle in degrees, or -1 for the center / not pressed.
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* @return a BooleanEvent instance based around this angle of a POV on the
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* HID.
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*/
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BooleanEvent POV(int pov, int angle, EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 0-degree angle (up) of
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* the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 0-degree angle of a POV on
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* the HID.
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*/
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BooleanEvent POVUp(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 45-degree angle (right
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* up) of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 45-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVUpRight(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 90-degree angle (right)
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* of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 90-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVRight(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 135-degree angle (right
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* down) of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 135-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVDownRight(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 180-degree angle (down)
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* of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 180-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVDown(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 225-degree angle (down
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* left) of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 225-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVDownLeft(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 270-degree angle (left)
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* of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 270-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVLeft(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the 315-degree angle (left
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* up) of the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the 315-degree angle of a POV
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* on the HID.
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*/
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BooleanEvent POVUpLeft(EventLoop* loop) const;
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/**
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* Constructs a BooleanEvent instance based around the center (not pressed) of
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* the default (index 0) POV on the HID.
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*
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* @return a BooleanEvent instance based around the center of a POV on the
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* HID.
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*/
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BooleanEvent POVCenter(EventLoop* loop) const;
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/**
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* Get the number of axes for the HID.
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*
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* @return the number of axis for the current HID
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*/
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int GetAxisCount() const;
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/**
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* Get the number of POVs for the HID.
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*
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* @return the number of POVs for the current HID
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*/
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int GetPOVCount() const;
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/**
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* Get the number of buttons for the HID.
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*
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* @return the number of buttons on the current HID
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*/
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int GetButtonCount() const;
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/**
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* Get if the HID is connected.
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*
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* @return true if the HID is connected
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*/
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bool IsConnected() const;
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/**
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* Get the type of the HID.
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*
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* @return the type of the HID.
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*/
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GenericHID::HIDType GetType() const;
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/**
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* Get the name of the HID.
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*
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* @return the name of the HID.
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*/
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std::string GetName() const;
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/**
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* Get the axis type of a joystick axis.
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*
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* @return the axis type of a joystick axis.
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*/
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int GetAxisType(int axis) const;
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/**
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* Get the port number of the HID.
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*
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* @return The port number of the HID.
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*/
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int GetPort() const;
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/**
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* Set a single HID output value for the HID.
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*
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* @param outputNumber The index of the output to set (1-32)
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* @param value The value to set the output to
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*/
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void SetOutput(int outputNumber, bool value);
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/**
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* Set all output values for the HID.
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*
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* @param value The 32 bit output value (1 bit for each output)
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*/
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void SetOutputs(int value);
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/**
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* Set the rumble output for the HID.
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*
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* The DS currently supports 2 rumble values, left rumble and right rumble.
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*
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* @param type Which rumble value to set
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* @param value The normalized value (0 to 1) to set the rumble to
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*/
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void SetRumble(RumbleType type, double value);
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private:
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int m_port;
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int m_outputs = 0;
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uint16_t m_leftRumble = 0;
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uint16_t m_rightRumble = 0;
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};
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} // namespace frc
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