allwpilib/commandsv2/src/generate/main/python/first_ds_commandhid.py.jinja

# THIS FILE WAS AUTO-GENERATED BY ./commandsv2/generate_hids.py. DO NOT MODIFY

from typing import Optional, Union

from wpilib import EventLoop, {{ ClassName }}Controller

from .commandgenerichid import CommandGenericHID
from .trigger import Trigger


class Command{{ ClassName }}Controller:
    """
    A version of :class:`wpilib.{{ ClassName }}Controller` with :class:`.Trigger` factories for command-based.
    """

    _hid: CommandGenericHID
    _controller: {{ ClassName }}Controller

    def __init__(self, hid: Union[int, {{ ClassName }}Controller]):
        """
        Construct an instance of a controller.

        :param hid: The port index on the Driver Station that the controller is plugged into,
                    or the {{ ClassName }}Controller object to use for this controller.
        """
        if isinstance(hid, int):
            self._hid = CommandGenericHID.getCommandGenericHID(hid)
            self._controller = {{ ClassName }}Controller(self._hid.getHID())
        else:
            self._hid = CommandGenericHID(hid.getHID())
            self._controller = hid

    def getHID(self) -> CommandGenericHID:
        """
        Get the underlying CommandGenericHID object.

        :returns: the wrapped CommandGenericHID object
        """
        return self._hid

    def getController(self) -> {{ ClassName }}Controller:
        """
        Get the wrapped controller object.

        :returns: the wrapped controller object
        """
        return self._controller

    def button(
        self,
        button: {{ ClassName }}Controller.Button,
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs an event instance around this button's digital signal.

        :param button: the :class:`wpilib.{{ ClassName }}Controller.Button` to read
        :param loop: the event loop instance to attach the event to
        """
        return self._hid.button(button.value, loop)
{% for button in buttons %}
    def {{ button.Name }}(self, loop: Optional[EventLoop] = None) -> Trigger:
        """
        Constructs a Trigger instance around the {{ button.DocName }} button's digital signal.

        :param loop: the event loop instance to attach the Trigger to, defaults
                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`

        :returns: a Trigger instance representing the {{ button.DocName }} button's digital signal
                  attached to the given loop.
        """
        return self.button({{ ClassName }}Controller.Button.{{ button.ConstantName }}, loop)
{% endfor -%}
{% for trigger in triggerAxes %}
    def {{ trigger.Name }}(
        self,
        threshold: float{% if trigger.HasDefaultThresholdMethod %} = 0.5{% endif %},
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs a Trigger instance around the {{ trigger.DocName }} axis value. The returned
        Trigger will be true when the axis value is greater than ``threshold``.

        :param threshold: the minimum axis value for the returned Trigger to be true. This value
                          should be in the range [0, 1] where 0 is the unpressed state of the axis.
        :param loop: the event loop instance to attach the Trigger to, defaults
                     to :func:`commands2.CommandScheduler.getDefaultButtonLoop`

        :returns: a Trigger instance that is true when the {{ trigger.DocName }} axis exceeds the
                  provided threshold, attached to the given event loop.
        """
        return self.axisGreaterThan(
            {{ ClassName }}Controller.Axis.{{ trigger.AxisConstantName }},
            threshold,
            loop,
        )
{% endfor %}
    def axisLessThan(
        self,
        axis: {{ ClassName }}Controller.Axis,
        threshold: float,
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs a Trigger instance that is true when the axis value is less than
        ``threshold``, attached to the given loop.

        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
        :param threshold: the value below which this Trigger should return true.
        :param loop: the event loop instance to attach the Trigger to

        :returns: a Trigger instance that is true when the axis value is less than
                  the provided threshold.
        """
        return self._hid.axisLessThan(axis.value, threshold, loop)

    def axisGreaterThan(
        self,
        axis: {{ ClassName }}Controller.Axis,
        threshold: float,
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs a Trigger instance that is true when the axis value is greater
        than ``threshold``, attached to the given loop.

        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
        :param threshold: the value above which this Trigger should return true.
        :param loop: the event loop instance to attach the Trigger to.

        :returns: a Trigger instance that is true when the axis value is greater
                  than the provided threshold.
        """
        return self._hid.axisGreaterThan(axis.value, threshold, loop)

    def axisMagnitudeGreaterThan(
        self,
        axis: {{ ClassName }}Controller.Axis,
        threshold: float,
        loop: Optional[EventLoop] = None,
    ) -> Trigger:
        """
        Constructs a Trigger instance that is true when the axis magnitude is
        greater than ``threshold``, attached to the given loop.

        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
        :param threshold: the value above which this Trigger should return true.
        :param loop: the event loop instance to attach the Trigger to.

        :returns: a Trigger instance that is true when the axis magnitude is
                  greater than the provided threshold.
        """
        return self._hid.axisMagnitudeGreaterThan(axis.value, threshold, loop)

    def getAxis(self, axis: {{ ClassName }}Controller.Axis) -> float:
        """
        Get the value of the axis.

        :param axis: the :class:`wpilib.{{ ClassName }}Controller.Axis` to read
        """
        return self._hid.getRawAxis(axis.value)
{% for axis in axes %}
    def get{{ axis.MethodName }}(self) -> float:
        """
        Get the {{ axis.DocName }} value of the controller.

        :returns: the axis value.
        """
        return self._controller.get{{ axis.MethodName }}()
{% endfor -%}