Use Jinja to generate C++ HID classes

.github/workflows/pregenerate.yml

@@ -33,7 +33,7 @@ jobs:
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Run HIDs
-        run: ./wpilibj/generate_hids.py && ./wpilibNewCommands/generate_hids.py
+        run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.styleguide

@@ -20,6 +20,7 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  wpilibc/src/generated/
 }
 
 repoRootNameOverride {

wpilibNewCommands/CMakeLists.txt

@@ -56,7 +56,11 @@ if(WITH_JAVA_SOURCE)
     set_property(TARGET wpilibNewCommands_src_jar PROPERTY FOLDER "java")
 endif()
 
-file(GLOB_RECURSE wpilibNewCommands_native_src src/main/native/cpp/*.cpp)
+file(
+    GLOB_RECURSE wpilibNewCommands_native_src
+    src/main/native/cpp/*.cpp
+    src/generated/main/native/cpp/*.cpp
+)
 add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
 set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
@@ -69,6 +73,7 @@ target_include_directories(
     wpilibNewCommands
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
         $<INSTALL_INTERFACE:${include_dest}/wpilibNewCommands>
 )
 

wpilibNewCommands/build.gradle

@@ -45,7 +45,24 @@ nativeUtils.exportsConfigs {
 }
 
 model {
-    components {}
+    components {
+        "${nativeName}Base" {
+            it.sources.cpp {
+                source {
+                    srcDirs 'src/generated/main/native/cpp'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/generated/main/native/include'
+                }
+            }
+        }
+        "${nativeName}" {
+            it.sources.cpp.exportedHeaders {
+                srcDirs 'src/generated/main/native/include'
+            }
+        }
+    }
     binaries {
         all {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {

wpilibNewCommands/generate_hids.py

@@ -47,5 +47,39 @@ def main():
         output = template.render(controller)
         Output(rootPath, controllerName, output)
 
+    # C++ headers
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/native/include/frc2/command/button"
+        ),
+        autoescape=False,
+        keep_trailing_newline=True,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/include/frc2/command/button"
+    template = env.get_template("commandhid.h.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"Command{controller['ConsoleName']}Controller.h"
+        )
+        output = template.render(controller)
+        Output(rootPath, controllerName, output)
+
+    # C++ files
+    env = Environment(
+        loader=FileSystemLoader(
+            f"{dirname}/src/generate/main/native/cpp/frc2/command/button"
+        ),
+        autoescape=False,
+    )
+    rootPath = f"{dirname}/src/generated/main/native/cpp/frc2/command/button"
+    template = env.get_template("commandhid.cpp.jinja")
+    for controller in controllers:
+        controllerName = os.path.basename(
+            f"Command{controller['ConsoleName']}Controller.cpp"
+        )
+        output = template.render(controller)
+        Output(rootPath, controllerName, output)
+
+
 if __name__ == "__main__":
     main()

wpilibNewCommands/src/generate/main/native/cpp/frc2/command/button/commandhid.cpp.jinja

@@ -0,0 +1,26 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+#include "frc2/command/button/Command{{ ConsoleName }}Controller.h"
+
+using namespace frc2;
+
+Trigger Command{{ ConsoleName }}Controller::Button(int button, frc::EventLoop* loop) const {
+  return GenericHID::Button(button, loop).CastTo<Trigger>();
+}
+{% for button in buttons %}
+Trigger Command{{ ConsoleName }}Controller::{{ button.NameParts|map("capitalize")|join }}(frc::EventLoop* loop) const {
+  return {{ ConsoleName }}Controller::{{ button.NameParts|map("capitalize")|join }}(loop).CastTo<Trigger>();
+}
+{% endfor -%}
+{% for trigger in axes if trigger.type == "trigger" -%}
+{% if trigger.UseThresholdMethods %}
+Trigger Command{{ ConsoleName }}Controller::{{ trigger.HumanName }}(double threshold,
+                                           frc::EventLoop* loop) const {
+  return {{ ConsoleName }}Controller::{{ trigger.HumanName }}(threshold, loop).CastTo<Trigger>();
+}
+{% endif -%}
+{% endfor -%}

wpilibNewCommands/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja

@@ -0,0 +1,69 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibNewCommands/generate_hids.py. DO NOT MODIFY
+
+#pragma once
+#include <frc/{{ ConsoleName }}Controller.h>
+
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/button/Trigger.h"
+
+namespace frc2 {
+/**
+ * A version of {@link {{ ConsoleName }}Controller} with {@link Trigger} factories for
+ * command-based.
+ *
+ * @see {{ ConsoleName }}Controller
+ */
+class Command{{ ConsoleName }}Controller : public frc::{{ ConsoleName }}Controller {
+ public:
+  using {{ ConsoleName }}Controller::{{ ConsoleName }}Controller;
+
+  /**
+   * 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. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the button's digital signal attached
+   * to the given loop.
+   */
+  Trigger Button(int button,
+                 frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                            .GetDefaultButtonLoop()) const;
+{% for button in buttons %}
+  /**
+   * Constructs an event instance around the {{ button.DocName|default(button.NameParts|map("lower")|join(" ")) }}'s digital signal.
+   *
+   * @param loop the event loop instance to attach the event to. Defaults to the
+   * CommandScheduler's default loop.
+   * @return an event instance representing the {{ button.DocName|default(button.NameParts|map("lower")|join(" ")) }}'s digital signal
+   * attached to the given loop.
+   */
+  Trigger {{ button.NameParts|map("capitalize")|join }}(frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                .GetDefaultButtonLoop()) const;
+{% endfor -%}
+{% for trigger in axes if trigger.type == "trigger" -%}
+{% if trigger.UseThresholdMethods %}
+  /**
+   * Constructs a Trigger instance around the axis value of the {{ trigger.DocName }}.
+   * The returned Trigger will be true when the axis value is greater than
+   * {@code 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. Defaults to 0.5.
+   * @param loop the event loop instance to attach the Trigger to. Defaults to
+   * the CommandScheduler's default loop.
+   * @return a Trigger instance that is true when the {{ trigger.DocName }}'s axis
+   * exceeds the provided threshold, attached to the given loop
+   */
+  Trigger {{ trigger.HumanName }}(double threshold = 0.5,
+                      frc::EventLoop* loop = CommandScheduler::GetInstance()
+                                                 .GetDefaultButtonLoop()) const;
+{% endif -%}
+{% endfor -%}
+};
+}  // namespace frc2