Add generic hid

Author: ThadHouse

src/wpilibsharp/GenericHID.cs

@@ -0,0 +1,127 @@
+using WPIHal.Natives;
+using WPILib.Event;
+
+namespace WPILib;
+
+public class GenericHID
+{
+    public enum RumbleType
+    {
+        LeftRumble,
+        RightRumble,
+        BothRumble
+    }
+
+    public enum HIDType
+    {
+        Unknown = -1,
+        XInputUnknown = 0,
+        XInputGamepad = 1,
+        XInputWheel = 2,
+        XInputArcadeStick = 3,
+        XInputFlightStick = 4,
+        XInputDancePad = 5,
+        XInputGuitar = 6,
+        XInputGuitar2 = 7,
+        XInputDrumKit = 8,
+        XInputGuitar3 = 11,
+        XInputArcadePad = 19,
+        HIDJoystick = 20,
+        HIDGamepad = 21,
+        HIDDriving = 22,
+        HIDFlight = 23,
+        HID1stPersion = 24
+    }
+
+    private long m_outputs;
+    private int m_leftRumble;
+    private int m_rightRumble;
+
+    public GenericHID(int port)
+    {
+        Port = port;
+    }
+
+    public bool GetRawButton(int button)
+    {
+        return DriverStation.GetStickButton(Port, button);
+    }
+
+    public BooleanEvent button(int button, EventLoop loop)
+    {
+        return new BooleanEvent(loop, () => GetRawButton(button));
+    }
+
+    public double GetRawAxis(int axis)
+    {
+        return DriverStation.GetStickAxis(Port, axis);
+    }
+
+    public int GetPOV(int pov)
+    {
+        return DriverStation.GetStickPOV(Port, pov);
+    }
+
+    public int GetPOV() => GetPOV(0);
+
+    public BooleanEvent Pov(int angle, EventLoop loop) => Pov(0, angle, loop);
+
+    public BooleanEvent Pov(int pov, int angle, EventLoop loop)
+    {
+        return new BooleanEvent(loop, () => GetPOV(pov) == angle);
+    }
+
+    public BooleanEvent PovUp(EventLoop loop)
+    {
+        return Pov(0, loop);
+    }
+
+    public int AxisCount => DriverStation.GetStickAxisCount(Port);
+
+    public int POVCount => DriverStation.GetStickPOVCount(Port);
+
+    public int ButtonCount => DriverStation.GetStickButtonCount(Port);
+
+    public bool IsConnected => DriverStation.IsJoystickConnected(Port);
+
+    public HIDType Type => (HIDType)DriverStation.GetJoystickType(Port);
+
+    public string Name => DriverStation.GetJoystickName(Port);
+
+    public int GetAxisType(int axis) => DriverStation.GetJoystickAxisType(Port, axis);
+
+    public int Port { get; }
+
+    public void SetOutput(int outputNumber, bool value)
+    {
+        m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1u : 0u) << (outputNumber - 1));
+        _ = HalDriverStation.SetJoystickOutputs(Port, m_outputs, m_leftRumble, m_rightRumble);
+    }
+
+    public void SetOutputs(uint value)
+    {
+        m_outputs = value;
+        _ = HalDriverStation.SetJoystickOutputs(Port, m_outputs, m_leftRumble, m_rightRumble);
+    }
+
+    public void SetRumble(RumbleType type, double value)
+    {
+        value = double.Clamp(value, 0, 1);
+        ushort rumbleValue = (ushort)(value * uint.MaxValue);
+
+        switch (type)
+        {
+            case RumbleType.LeftRumble:
+                m_leftRumble = rumbleValue;
+                break;
+            case RumbleType.RightRumble:
+                m_rightRumble = rumbleValue;
+                break;
+            default:
+                m_leftRumble = rumbleValue;
+                m_rightRumble = rumbleValue;
+                break;
+        }
+        _ = HalDriverStation.SetJoystickOutputs(Port, m_outputs, m_leftRumble, m_rightRumble);
+    }
+}