Deliver buttons a script presses by their PlayStation names

SimLoop/src/main/java/org/horizon36596/simloop/opmode/GamepadScript.java

@@ -9,7 +9,9 @@
  *
  * <p>The two gamepads passed in are the same objects on every tick, so a button stays held until the script
  * releases it, exactly like a real one. Write only fields ({@code gamepad1.left_stick_y = -1f},
- * {@code gamepad1.a = true}); do not keep references to them outside the call.
+ * {@code gamepad1.a = true}); do not keep references to them outside the call. A button can be pressed by either
+ * of its names ({@code a} or {@code cross}, {@code y} or {@code triangle}, {@code back} or {@code share}, ...): the
+ * OpMode sees both names pressed, as it would on the robot.
  *
  * <p>A script must be a pure function of its arguments (and of state it owns) for a run to be deterministic.
  */

SimLoop/src/main/java/org/horizon36596/simloop/opmode/OpModeContext.java

@@ -32,6 +32,9 @@ final class OpModeContext {
     /** The operator's gamepad as the Driver Station holds it. */
     final Gamepad driverStationGamepad2 = new Gamepad();
 
+    /** Where a script's gamepad is staged on its way to the OpMode, with its PlayStation names folded in. */
+    private final Gamepad staged = new Gamepad();
+
     /** Sim time, in seconds, at which {@code getRuntime()} reads zero. */
     private double runtimeOriginSeconds;
 
@@ -73,6 +76,26 @@ TelemetryRewiring inject(HardwareMap hardwareMap, RecordingTelemetry telemetry,
         return rewiring;
     }
 
+    /**
+     * Copies a script's gamepad into the OpMode's the way the SDK delivers Driver Station data, with the buttons
+     * the script pressed by their PlayStation names counted too. {@code Gamepad.copy} carries only the Xbox names
+     * ({@code toByteArray}) and sets the PlayStation ones from them ({@code updateButtonAliases}), so on its own it
+     * drops {@code triangle = true}: a real Driver Station has one button there, sent under its Xbox name. Each
+     * PlayStation name is ORed into its Xbox twin on a staging copy, never on the script's gamepad, so a button
+     * the script releases is released. The pairs are the SDK's ({@code updateButtonAliases}, RobotCore 12.0.0).
+     */
+    private void deliver(Gamepad script, Gamepad toOpMode) {
+        staged.copy(script);
+        staged.a |= script.cross;
+        staged.b |= script.circle;
+        staged.x |= script.square;
+        staged.y |= script.triangle;
+        staged.back |= script.share;
+        staged.start |= script.options;
+        staged.guide |= script.ps;
+        toOpMode.copy(staged);
+    }
+
     /** Makes {@code getRuntime()} and {@code time} count from the sim clock's current reading: INIT. */
     void startRuntimeHere() {
         runtimeOriginSeconds = timer.time();
@@ -96,8 +119,8 @@ void markStopRequested() {
      * SDK's edge detection), and {@code time} and {@code getRuntime()} are set to the sim runtime.
      */
     void beforeUserCode() {
-        opMode.gamepad1.copy(driverStationGamepad1);
-        opMode.gamepad2.copy(driverStationGamepad2);
+        deliver(driverStationGamepad1, opMode.gamepad1);
+        deliver(driverStationGamepad2, opMode.gamepad2);
         double runtimeSeconds = timer.time() - runtimeOriginSeconds;
         opMode.time = runtimeSeconds;
         opMode.resetRuntime();

SimLoop/src/test/java/org/horizon36596/simloop/opmode/IterativeOpModeRunnerTest.java

@@ -192,6 +192,48 @@ void theScriptDrivesTheGamepadsTickByTickAndEdgeDetectionSeesOnePressPerPress()
         assertEquals(2, opMode.presses, "aWasPressed() fires once per press, not once per tick held");
     }
 
+    /** Records each tick what the OpMode sees of one button, under both its names. */
+    static class TriangleReader extends OpMode {
+        final List<String> seen = new ArrayList<>();
+        int trianglePresses, yPresses, sharePresses;
+
+        @Override public void init() { }
+
+        @Override
+        public void loop() {
+            seen.add((gamepad1.triangle ? "T" : "-") + (gamepad1.y ? "Y" : "-") + (gamepad1.back ? "B" : "-")
+                    + (gamepad1.share ? "S" : "-"));
+            if (gamepad1.triangleWasPressed()) {
+                trianglePresses++;
+            }
+            if (gamepad1.yWasPressed()) {
+                yPresses++;
+            }
+            if (gamepad1.shareWasPressed()) {
+                sharePresses++;
+            }
+        }
+    }
+
+    @Test
+    void aButtonPressedByItsPlayStationNameReachesTheOpModeUnderBothNamesAndReleases() {
+        TriangleReader opMode = new TriangleReader();
+        GamepadScript script = (phase, tick, gamepad1, gamepad2) -> {
+            if (phase != OpModePhase.ACTIVE) {
+                return;
+            }
+            gamepad1.triangle = tick >= 1 && tick < 3; // pressed by its PlayStation name for two ticks
+            gamepad1.share = tick == 5;                 // and share tapped once
+        };
+        runner(opMode, new FakeTimer()).activeTicks(7).gamepads(script).run();
+
+        assertEquals(Arrays.asList("----", "TY--", "TY--", "----", "----", "--BS", "----"), opMode.seen,
+                "triangle and y are one button, and so are share and back; released when the script lets go");
+        assertEquals(1, opMode.trianglePresses, "triangleWasPressed() once");
+        assertEquals(1, opMode.yPresses, "yWasPressed() once: it is the same button");
+        assertEquals(1, opMode.sharePresses, "shareWasPressed() once");
+    }
+
     @Test
     void requestOpModeStopRunsStopAtOnceAndNothingAfterIt() {
         FakeTimer timer = new FakeTimer();