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RSDK-8714: Input Controller wrappers #70
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254 changes: 254 additions & 0 deletions
254
core/sdk/src/main/kotlin/com/viam/sdk/core/component/input/Input.kt
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| package com.viam.sdk.core.component.input | ||
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| import com.google.protobuf.Struct | ||
| import com.google.protobuf.Timestamp | ||
| import com.viam.common.v1.Common.ResourceName | ||
| import com.viam.component.inputcontroller.v1.InputController | ||
| import com.viam.sdk.core.component.Component | ||
| import com.viam.sdk.core.resource.Resource | ||
| import com.viam.sdk.core.resource.Subtype | ||
| import com.viam.sdk.core.robot.RobotClient | ||
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| /** | ||
| * EventType represents the type of input event. | ||
| */ | ||
| enum class EventType(val value: String) { | ||
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| /** Callbacks registered for this event will be called in ADDITION to other registered event callbacks.*/ | ||
| ALL_EVENTS("AllEvents"), | ||
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| /** Sent at controller initialization, and on reconnects. */ | ||
| CONNECT("Connect"), | ||
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| /** If unplugged, or wireless/network times out.*/ | ||
| DISCONNECT("Disconnect"), | ||
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| /** Typical key press.*/ | ||
| BUTTON_PRESS("ButtonPress"), | ||
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| /** Key release */ | ||
| BUTTON_RELEASE("ButtonRelease"), | ||
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| /** Key is held down. This wil likely be a repeated event.*/ | ||
| BUTTON_HOLD("ButtonHold"), | ||
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| /** Both up and down for convenience during registration, not typically emitted.*/ | ||
| BUTTON_CHANGE("ButtonChange"), | ||
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| /** Absolute position is reported via Value, a la joysticks. */ | ||
| POSITION_CHANGE_ABSOLUTE("PositionChangeAbs"), | ||
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| /** Relative position is reported via Value, a la mice, or simulating axes with up/down buttons. */ | ||
| POSITION_CHANGE_RELATIVE("PositionChangeRel"); | ||
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| companion object { | ||
| fun fromValue(value: String): EventType = when (value) { | ||
| "AllEvents" -> EventType.ALL_EVENTS | ||
| "Connect" -> EventType.CONNECT | ||
| "Disconnect" -> EventType.DISCONNECT | ||
| "ButtonPress" -> EventType.BUTTON_PRESS | ||
| "ButtonRelease" -> EventType.BUTTON_RELEASE | ||
| "ButtonHold" -> EventType.BUTTON_HOLD | ||
| "ButtonChange" -> EventType.BUTTON_CHANGE | ||
| "PositionChangeAbs" -> EventType.POSITION_CHANGE_ABSOLUTE | ||
| "PositionChangeRel" -> EventType.POSITION_CHANGE_RELATIVE | ||
| else -> throw IllegalArgumentException("Unknown event type $value") | ||
| } | ||
| } | ||
| } | ||
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| /** | ||
| * Control identifies the input (specific Axis or Button) of a controller. | ||
| */ | ||
| enum class Control(val value: String) { | ||
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| // Axes | ||
| ABSOLUTE_X("AbsoluteX"), | ||
| ABSOLUTE_Y("AbsoluteY"), | ||
| ABSOLUTE_Z("AbsoluteZ"), | ||
| ABSOLUTE_RX("AbsoluteRX"), | ||
| ABSOLUTE_RY("AbsoluteRY"), | ||
| ABSOLUTE_RZ("AbsoluteRZ"), | ||
| ABSOLUTE_HAT0_X("AbsoluteHat0X"), | ||
| ABSOLUTE_HAT0_Y("AbsoluteHat0Y"), | ||
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| // Buttons | ||
| BUTTON_SOUTH("ButtonSouth"), | ||
| BUTTON_EAST("ButtonEast"), | ||
| BUTTON_WEST("ButtonWest"), | ||
| BUTTON_NORTH("ButtonNorth"), | ||
| BUTTON_LT("ButtonLT"), | ||
| BUTTON_RT("ButtonRT"), | ||
| BUTTON_LT2("ButtonLT2"), | ||
| BUTTON_RT2("ButtonRT2"), | ||
| BUTTON_L_THUMB("ButtonLThumb"), | ||
| BUTTON_R_THUMB("ButtonRThumb"), | ||
| BUTTON_SELECT("ButtonSelect"), | ||
| BUTTON_START("ButtonStart"), | ||
| BUTTON_MENU("ButtonMenu"), | ||
| BUTTON_RECORD("ButtonRecord"), | ||
| BUTTON_E_STOP("ButtonEStop"), | ||
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| // Pedals | ||
| ABSOLUTE_PEDAL_ACCELERATOR("AbsolutePedalAccelerator"), | ||
| ABSOLUTE_PEDAL_BRAKE("AbsolutePedalBrake"), | ||
| ABSOLUTE_PEDAL_CLUTCH("AbsolutePedalClutch"); | ||
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| companion object { | ||
| fun fromValue(value: String): Control = when (value) { | ||
| "AbsoluteX" -> ABSOLUTE_X | ||
| "AbsoluteY" -> ABSOLUTE_Y | ||
| "AbsoluteZ" -> ABSOLUTE_Z | ||
| "AbsoluteRX" -> ABSOLUTE_RX | ||
| "AbsoluteRY" -> ABSOLUTE_RY | ||
| "AbsoluteRZ" -> ABSOLUTE_RZ | ||
| "AbsoluteHat0X" -> ABSOLUTE_HAT0_X | ||
| "AbsoluteHat0Y" -> ABSOLUTE_HAT0_Y | ||
| "ButtonSouth" -> BUTTON_SOUTH | ||
| "ButtonEast" -> BUTTON_EAST | ||
| "ButtonWest" -> BUTTON_WEST | ||
| "ButtonNorth" -> BUTTON_NORTH | ||
| "ButtonLT" -> BUTTON_LT | ||
| "ButtonRT" -> BUTTON_RT | ||
| "ButtonLT2" -> BUTTON_LT2 | ||
| "ButtonRT2" -> BUTTON_RT2 | ||
| "ButtonLThumb" -> BUTTON_L_THUMB | ||
| "ButtonRThumb" -> BUTTON_R_THUMB | ||
| "ButtonSelect" -> BUTTON_SELECT | ||
| "ButtonStart" -> BUTTON_START | ||
| "ButtonMenu" -> BUTTON_MENU | ||
| "ButtonRecord" -> BUTTON_RECORD | ||
| "ButtonEStop" -> BUTTON_E_STOP | ||
| "AbsolutePedalAccelerator" -> ABSOLUTE_PEDAL_ACCELERATOR | ||
| "AbsolutePedalBrake" -> ABSOLUTE_PEDAL_BRAKE | ||
| "AbsolutePedalClutch" -> ABSOLUTE_PEDAL_CLUTCH | ||
| else -> { | ||
| throw IllegalArgumentException("Unknown control $value") | ||
| } | ||
| } | ||
| } | ||
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| } | ||
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| class Event(val time: Long, val event: EventType, val control: Control, val value: Double) { | ||
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| fun proto(): InputController.Event { | ||
| return InputController.Event.newBuilder().setEvent(event.value).setControl(control.value).setValue(value) | ||
| .setTime(Timestamp.newBuilder().setSeconds(time).build()).build() | ||
| } | ||
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| companion object { | ||
| fun fromProto(proto: InputController.Event): Event { | ||
| return Event( | ||
| proto.time.seconds, | ||
| EventType.fromValue(proto.event), | ||
| Control.fromValue(proto.control), | ||
| proto.value | ||
| ) | ||
| } | ||
| } | ||
| } | ||
| typealias ControlFunction = (Event) -> Unit | ||
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| /** | ||
| * Controller is a logical "container" more than an actual device | ||
| * Could be a single gamepad, or a collection of digitalInterrupts and analogReaders, a keyboard, etc. | ||
| */ | ||
| abstract class Controller(name: String) : Component(SUBTYPE, named(name)) { | ||
| companion object { | ||
| @JvmField | ||
| val SUBTYPE = Subtype(Subtype.NAMESPACE_RDK, Subtype.RESOURCE_TYPE_COMPONENT, "input_controller") | ||
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| /** | ||
| * Get the ResourceName of the component | ||
| * @param name the name of the component | ||
| * @return the component's ResourceName | ||
| */ | ||
| @JvmStatic | ||
| fun named(name: String): ResourceName { | ||
| return Resource.named(SUBTYPE, name) | ||
| } | ||
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| /** | ||
| * Get the component with the provided name from the provided robot. | ||
| * @param robot the RobotClient | ||
| * @param name the name of the component | ||
| * @return the component | ||
| */ | ||
| @JvmStatic | ||
| fun fromRobot(robot: RobotClient, name: String): Controller { | ||
| return robot.getResource(Controller::class.java, named(name)) | ||
| } | ||
| } | ||
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| /** | ||
| * Returns a list of Controls provided by the Controller | ||
| * @return List of controls provided by the Controller | ||
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| */ | ||
| abstract fun getControls(extra: Struct): List<Control> | ||
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| /** | ||
| * Returns a list of Controls provided by the Controller | ||
| * @return List of controls provided by the Controller | ||
| */ | ||
| fun getControls(): List<Control> { | ||
| return getControls(Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Returns the most recent Event for each input (which should be the current state) | ||
| * @return the most recent event for each input | ||
| */ | ||
| abstract fun getEvents(extra: Struct): Map<Control, Event> | ||
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| /** | ||
| * Returns the most recent Event for each input (which should be the current state) | ||
| * @return the most recent event for each input | ||
| */ | ||
| fun getEvents(): Map<Control, Event> { | ||
| return getEvents(Struct.getDefaultInstance()); | ||
| } | ||
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| /** | ||
| * Register a function that will fire on given EventTypes for a given Control | ||
| * @param control the control to register the function for | ||
| * @param triggers the events that will trigger the function | ||
| * @param function the function to run on specific triggers | ||
| */ | ||
| abstract fun registerControlCallback( | ||
| control: Control, | ||
| triggers: List<EventType>, | ||
| function: ControlFunction?, | ||
| extra: Struct | ||
| ) | ||
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| /** | ||
| * Register a function that will fire on given EventTypes for a given Control | ||
| * @param control the control to register the function for | ||
| * @param triggers the events that will trigger the function | ||
| * @param function the function to run on specific triggers | ||
| */ | ||
| fun registerControlCallback(control: Control, triggers: List<EventType>, function: ControlFunction?) { | ||
| registerControlCallback(control, triggers, function, Struct.getDefaultInstance()) | ||
| } | ||
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| /** | ||
| * Directly send an Event (such as a button press) from external code | ||
| * @param event the event to trigger | ||
| */ | ||
| abstract fun triggerEvent(event: Event, extra: Struct) | ||
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| /** | ||
| * Directly send an Event (such as a button press) from external code | ||
| * @param event the event to trigger | ||
| */ | ||
| fun triggerEvent(event: Event) { | ||
| triggerEvent(event, Struct.getDefaultInstance()) | ||
| } | ||
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| } | ||
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(minor) probably should get rid of this newline?