VirtualGamepad.java

package com.walnuthillseagles.walnutlibrary;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.Gamepad;

/**
 * Created by Yan Vologzhanin on 2/7/2016.
 */
public class VirtualGamepad implements Runnable{

    public static boolean canProcess = false;
    public static double[] doubleValues = new double[12];
    public static boolean[] boolValues = new boolean[30];
    public Gamepad gamepad1Pointer;
    public Gamepad gamepad2Pointer;
    public OpMode currentOpMode;

    /*The array is initilized as follows:
    ----------------------------------------------
    -Analog
    0 - Gamepad 1, X axis, left stick (LEFTX1)
    1 - Gamepad 1, Y axis, left stick (LEFTY1)
    2 - Gamepad 1, X axis, right stick (RIGHTX1)
    3 - Gamepad 1, Y axis, right stick (RIGHTY1)
    4 - Gamepad 1, Left Trigger (LEFTZ1)
    5 - Gamepad 1, Right Trigger (RIGHTZ1)
    6 - Gamepad 2, X axis, left stick (LEFTX2)
    7 - Gamepad 2, Y axis, left stick (LEFTY2)
    8 - Gamepad 2, X axis, right stick (RIGHTX2)
    9 - Gamepad 2, Y axis, right stick (RIGHTY2)
    10 - Gamepad 2, Left Trigger (LEFTZ2)
    11 - Gamepad 2, Right Trigger (RIGHTZ2)
    -Digital
    0 - Gamepad 1, a button (A1)
    1 - Gamepad 1, b button (B1)
    2- Gamepad 1, x button (X1)
    3- Gamepad 1, y button (Y1)
    4 - Gamepad 1, back button (BACK1)
    5 - Gamepad 1, start button (START1)
    6 - Gamepad 1, guid button (GUIDE1)
    7 - Gamepad 1, dpad left (LEFT1)
    8 - Gamepad 1, dpad right (RIGHT1)
    9 - Gamepad 1, dpad down (DOWN1)
    10 - Gamepad 1, dpad up (UP1)
    11 - Gamepad 1, Left bumper (LBUMP1)
    12 - Gamepad 1, right bumper (RBUMP1)
    13 - Gamepad 1, left stick button (LSTICK1)
    14 - Gamepad 1, right stick button (RSTICK1)
    15 - Gamepad 2, a button (A2)
    16 - Gamepad 2, b button (B2)
    17- Gamepad 2, x button (X2)
    18- Gamepad 2, y button (Y2)
    19 - Gamepad 2, back button (BACK2)
    20- Gamepad 2, start button (START2)
    21- Gamepad 2, guid button (GUIDE2)
    22- Gamepad 2, dpad left (LEFT2)
    23- Gamepad 2, dpad right (RIGHT2)
    24- Gamepad 2, dpad down (DOWN2)
    25 - Gamepad 2, dpad up (UP2)
    26 - Gamepad 2, Left bumper (LBUMP2)
    27 - Gamepad 2, right bumper (RBUMP2)
    28 - Gamepad 2, left stick button (LSTICK2)
    29 - Gamepad 2, right stick button (RSTICK2)
    ---------------------------------------------*/
    private void setGamepads(Gamepad newGamepad1, Gamepad newGamepad2){
        gamepad1Pointer=newGamepad1;
        gamepad2Pointer=newGamepad2;
    }
    //Method that starts at thread and updates neccesary parts
    public void run() {
        canProcess = true;
        //Will loop and update values until told to fullStop
        while (canProcess) {
            //Analog Values
            doubleValues[0] = gamepad1Pointer.left_stick_x;
            doubleValues[1] = gamepad1Pointer.left_stick_y;
            doubleValues[2] = gamepad1Pointer.right_stick_x;
            doubleValues[3] = gamepad1Pointer.right_stick_y;
            doubleValues[4] = gamepad1Pointer.left_trigger;
            doubleValues[5] = gamepad1Pointer.right_trigger;

            doubleValues[6] = gamepad2Pointer.left_stick_x;
            doubleValues[7] = gamepad2Pointer.left_stick_y;
            doubleValues[8] = gamepad2Pointer.right_stick_x;
            doubleValues[9] = gamepad2Pointer.right_stick_y;
            doubleValues[10] = gamepad2Pointer.left_trigger;
            doubleValues[11] = gamepad2Pointer.right_trigger;
            //Digital Values
            boolValues[0] = gamepad1Pointer.a;
            boolValues[1] = gamepad1Pointer.b;
            boolValues[2] = gamepad1Pointer.x;
            boolValues[3] = gamepad1Pointer.y;
            boolValues[4] = gamepad1Pointer.back;
            boolValues[5] = gamepad1Pointer.start;
            boolValues[6] = gamepad1Pointer.guide;
            boolValues[7] = gamepad1Pointer.dpad_left;
            boolValues[8] = gamepad1Pointer.dpad_right;
            boolValues[9] = gamepad1Pointer.dpad_down;
            boolValues[10] = gamepad1Pointer.dpad_up;
            boolValues[11] = gamepad1Pointer.left_bumper;
            boolValues[12] = gamepad1Pointer.right_bumper;
            boolValues[13] = gamepad1Pointer.left_stick_button;
            boolValues[14] = gamepad1Pointer.right_stick_button;

            boolValues[15] = gamepad2Pointer.a;
            boolValues[16] = gamepad2Pointer.b;
            boolValues[17] = gamepad2Pointer.x;
            boolValues[18] = gamepad2Pointer.y;
            boolValues[19] = gamepad2Pointer.back;
            boolValues[20] = gamepad2Pointer.start;
            boolValues[21] = gamepad2Pointer.guide;
            boolValues[22] = gamepad2Pointer.dpad_left;
            boolValues[23] = gamepad2Pointer.dpad_right;
            boolValues[24] = gamepad2Pointer.dpad_down;
            boolValues[25] = gamepad2Pointer.dpad_up;
            boolValues[26] = gamepad2Pointer.left_bumper;
            boolValues[27] = gamepad2Pointer.right_bumper;
            boolValues[28] = gamepad2Pointer.left_stick_button;
            boolValues[29] = gamepad2Pointer.right_stick_button;
        }
    }
    //Called by elsewhere in the program to terminate processing
    public static void stopProcessing(){
        canProcess = false;
    }
    public static void startProcessing(OpMode myOpmode){
        VirtualGamepad updater = new VirtualGamepad();
        Thread processor = new Thread(updater);
        updater.setGamepads(myOpmode.gamepad1, myOpmode.gamepad2);
        processor.start();
    }
    //@TODO Figure out how to handle default Case
    //@TODO Figure out how to handle nonstatic context
    public double getDoubleTableVal(int index){
        switch(index){
//-----------------GamePad1-------------------------//
            case(0):
                return gamepad1Pointer.left_stick_x;
            case(1):
                return gamepad1Pointer.left_stick_y;
            case(2):
                return gamepad1Pointer.right_stick_x;
            case(3):
                return gamepad1Pointer.right_stick_y;
            case(4):
                return gamepad1Pointer.left_trigger;
            case(5):
                return gamepad1Pointer.right_trigger;
//-----------------GamePad2-------------------------//
            case(6):
                return gamepad2Pointer.left_stick_x;
            case(7):
                return gamepad2Pointer.left_stick_y;
            case(8):
                return gamepad2Pointer.right_stick_x;
            case(9):
                return gamepad2Pointer.right_stick_y;
            case(10):
                return gamepad2Pointer.left_trigger;
            case(11):
                return gamepad2Pointer.right_trigger;
            default:
                return 0;
        }
    }
    public boolean getBoolValue(int index){
        switch(index){
            //----GamePad1---//
            case(0):
                return gamepad1Pointer.a;
            case(1):
                return gamepad1Pointer.b;
            case(2):
                return gamepad1Pointer.x;
            case(3):
                return gamepad1Pointer.y;
            case(4):
                return gamepad1Pointer.back;
            case(5):
                return gamepad1Pointer.start;
            case(6):
                return gamepad1Pointer.guide;
            case(7):
                return gamepad1Pointer.dpad_left;
            case(8):
                return gamepad1Pointer.dpad_right;
            case(9):
                return gamepad1Pointer.dpad_down;
            case(10):
                return gamepad1Pointer.dpad_up;
            case(11):
                return gamepad1Pointer.left_bumper;
            case(12):
                return gamepad1Pointer.right_bumper;
            case(13):
                return gamepad1Pointer.left_stick_button;
            case(14):
                return gamepad1Pointer.right_stick_button;
            //----GamePad2---//
            case(15):
                return gamepad2Pointer.a;
            case(16):
                return gamepad2Pointer.b;
            case(17):
                return gamepad2Pointer.x;
            case(18):
                return gamepad2Pointer.y;
            case(19):
                return gamepad2Pointer.back;
            case(20):
                return gamepad2Pointer.start;
            case(21):
                return gamepad2Pointer.guide;
            case(22):
                return gamepad2Pointer.dpad_left;
            case(23):
                return gamepad2Pointer.dpad_right;
            case(24):
                return gamepad2Pointer.dpad_down;
            case(25):
                return gamepad2Pointer.dpad_up;
            case(26):
                return gamepad2Pointer.left_bumper;
            case(27):
                return gamepad2Pointer.right_bumper;
            case(28):
                return gamepad2Pointer.left_stick_button;
            case(29):
                return gamepad2Pointer.right_stick_button;
            default:
                return false; 
        }
    }

}