119 lines
3.8 KiB
C
119 lines
3.8 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#ifndef JOYSTICK_H_
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#define JOYSTICK_H_
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#include <cstdint>
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#include <memory>
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#include <vector>
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#include "GenericHID.h"
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#include "ErrorBase.h"
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class DriverStation;
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/**
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* Handle input from standard Joysticks connected to the Driver Station.
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* This class handles standard input that comes from the Driver Station. Each
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* time a value is requested
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* the most recent value is returned. There is a single class instance for each
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* joystick and the mapping
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* of ports to hardware buttons depends on the code in the driver station.
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*/
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class Joystick : public GenericHID, public ErrorBase {
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public:
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static const uint32_t kDefaultXAxis = 0;
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static const uint32_t kDefaultYAxis = 1;
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static const uint32_t kDefaultZAxis = 2;
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static const uint32_t kDefaultTwistAxis = 2;
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static const uint32_t kDefaultThrottleAxis = 3;
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typedef enum {
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kXAxis,
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kYAxis,
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kZAxis,
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kTwistAxis,
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kThrottleAxis,
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kNumAxisTypes
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} AxisType;
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static const uint32_t kDefaultTriggerButton = 1;
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static const uint32_t kDefaultTopButton = 2;
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typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
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typedef enum { kLeftRumble, kRightRumble } RumbleType;
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typedef enum {
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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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} HIDType;
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explicit Joystick(uint32_t port);
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Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
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virtual ~Joystick() = default;
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Joystick(const Joystick&) = delete;
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Joystick& operator=(const Joystick&) = delete;
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uint32_t GetAxisChannel(AxisType axis) const;
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void SetAxisChannel(AxisType axis, uint32_t channel);
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virtual float GetX(JoystickHand hand = kRightHand) const override;
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virtual float GetY(JoystickHand hand = kRightHand) const override;
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virtual float GetZ() const override;
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virtual float GetTwist() const override;
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virtual float GetThrottle() const override;
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virtual float GetAxis(AxisType axis) const;
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float GetRawAxis(uint32_t axis) const override;
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virtual bool GetTrigger(JoystickHand hand = kRightHand) const override;
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virtual bool GetTop(JoystickHand hand = kRightHand) const override;
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virtual bool GetBumper(JoystickHand hand = kRightHand) const override;
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virtual bool GetRawButton(uint32_t button) const override;
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virtual int GetPOV(uint32_t pov = 0) const override;
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bool GetButton(ButtonType button) const;
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static Joystick *GetStickForPort(uint32_t port);
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virtual float GetMagnitude() const;
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virtual float GetDirectionRadians() const;
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virtual float GetDirectionDegrees() const;
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bool GetIsXbox() const;
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Joystick::HIDType GetType() const;
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std::string GetName() const;
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int GetAxisType(uint8_t axis) const;
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int GetAxisCount() const;
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int GetButtonCount() const;
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int GetPOVCount() const;
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void SetRumble(RumbleType type, float value);
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void SetOutput(uint8_t outputNumber, bool value);
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void SetOutputs(uint32_t value);
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private:
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DriverStation &m_ds;
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uint32_t m_port;
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std::vector<uint32_t> m_axes;
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std::vector<uint32_t> m_buttons;
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uint32_t 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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#endif
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