[wpilib] Implement Sendable for HID classes (wpilibsuite#6782)

wpilibc/src/generate/main/native/cpp/hid.cpp.jinja

@@ -9,6 +9,7 @@
 #include "frc/{{ ConsoleName }}Controller.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -77,7 +78,7 @@ bool {{ ConsoleName }}Controller::GetLeftBumperReleased() {
 bool {{ ConsoleName }}Controller::GetRightBumperReleased() {
   return GetRawButtonReleased(Button::kRightBumper);
 }
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
 bool {{ ConsoleName }}Controller::GetTouchpad() const {
   return GetRawButton(Button::kTouchpad);
 }
@@ -89,4 +90,18 @@ bool {{ ConsoleName }}Controller::GetTouchpadPressed() {
 bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
   return GetRawButtonReleased(Button::kTouchpad);
 }
-{% endif %}
+{%- endif %}
+
+void {{ ConsoleName }}Controller::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("HID");
+  builder.PublishConstString("ControllerType", "{{ ConsoleName }}");
+{%- for trigger in triggers %}
+  builder.AddDoubleProperty("{{ capitalize_first(trigger.name) }}", [this] { return Get{{ capitalize_first(trigger.name) }}Axis(); }, nullptr);
+{%- endfor -%}
+{% for stick in sticks %}
+  builder.AddDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", [this] { return Get{{ stick.NameParts|map("capitalize")|join }}(); }, nullptr);
+{%- endfor -%}
+{% for button in buttons %}
+  builder.AddBooleanProperty("{{ capitalize_first(button.name) }}", [this] { return Get{{ capitalize_first(button.name) }}Button(); }, nullptr);
+{%- endfor %}
+}

wpilibc/src/generate/main/native/include/frc/hid.h.jinja

@@ -8,6 +8,9 @@
 {%- endmacro %}
 #pragma once
 
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
 #include "frc/GenericHID.h"
 
 namespace frc {
@@ -24,7 +27,9 @@ namespace frc {
  * correct mapping, and only through the official NI DS. Sim is not guaranteed
  * to have the same mapping, as well as any 3rd party controllers.
  */
-class {{ ConsoleName }}Controller : public GenericHID {
+class {{ ConsoleName }}Controller : public GenericHID,
+                                    public wpi::Sendable,
+                                    public wpi::SendableHelper<{{ ConsoleName }}Controller> {
  public:
   /**
    * Construct an instance of a controller.
@@ -203,6 +208,8 @@ class {{ ConsoleName }}Controller : public GenericHID {
     static constexpr int k{{ capitalize_first(trigger.name) }} = {{ trigger.value }};
 {%- endfor %}
   };
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
 };
 
 }  // namespace frc

wpilibj/src/generate/hid.java.jinja

@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj;
 
 {{ "// " if SkipReporting }}import edu.wpi.first.hal.FRCNetComm.tResourceType;
 {{ "// " if SkipReporting }}import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.event.BooleanEvent;
 import edu.wpi.first.wpilibj.event.EventLoop;
 
@@ -24,7 +26,7 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * only through the official NI DS. Sim is not guaranteed to have the same mapping, as well as any
  * 3rd party controllers.
  */
-public class {{ ConsoleName }}Controller extends GenericHID {
+public class {{ ConsoleName }}Controller extends GenericHID implements Sendable {
   /** Represents a digital button on a {{ ConsoleName }}Controller. */
   public enum Button {
 {%- for button in buttons %}
@@ -252,7 +254,7 @@ public class {{ ConsoleName }}Controller extends GenericHID {
   public boolean getRightBumperReleased() {
     return getRawButtonReleased(Button.kRightBumper.value);
   }
-{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
+{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
   /**
    * Read the value of the touchpad on the controller.
    *
@@ -285,5 +287,20 @@ public class {{ ConsoleName }}Controller extends GenericHID {
   public boolean getTouchpadReleased() {
     return getRawButtonReleased(Button.kTouchpad.value);
   }
-{% endif -%}
+{%- endif %}
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("HID");
+    builder.publishConstString("ControllerType", "{{ ConsoleName }}");
+{%- for trigger in triggers %}
+    builder.addDoubleProperty("{{ capitalize_first(trigger.name) }}", this::get{{ capitalize_first(trigger.name) }}Axis, null);
+{%- endfor -%}
+{% for stick in sticks %}
+    builder.addDoubleProperty("{{ stick.NameParts|map("capitalize")|join }}", this::get{{ stick.NameParts|map("capitalize")|join }}, null);
+{%- endfor -%}
+{% for button in buttons %}
+    builder.addBooleanProperty("{{ capitalize_first(button.name) }}", this::get{{ capitalize_first(button.name) }}Button, null);
+{%- endfor %}
+  }
 }