[wpilib] Write REV PH firmware version to roboRIO to display on driver station (#3977)

wpilibc/src/main/native/cpp/PneumaticHub.cpp

@@ -4,6 +4,7 @@
 
 #include "frc/PneumaticHub.h"
 
+#include <fmt/format.h>
 #include <hal/REVPH.h>
 #include <wpi/NullDeleter.h>
 #include <wpi/StackTrace.h>
@@ -11,6 +12,7 @@
 #include "frc/Compressor.h"
 #include "frc/DoubleSolenoid.h"
 #include "frc/Errors.h"
+#include "frc/RobotBase.h"
 #include "frc/SensorUtil.h"
 #include "frc/Solenoid.h"
 #include "frc/fmt/Units.h"
@@ -56,6 +58,29 @@ class PneumaticHub::DataStore {
         std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
 
     auto version = m_moduleObject.GetVersion();
+
+    if (version.FirmwareMajor > 0 && RobotBase::IsReal()) {
+      // Write PH firmware version to roboRIO
+      std::FILE* file = nullptr;
+      file = std::fopen(
+          fmt::format("/tmp/frc_versions/REV_PH_{:0>2}_WPILib_Version.ini",
+                      module)
+              .c_str(),
+          "w");
+      if (file != nullptr) {
+        std::fputs("[Version]\n", file);
+        std::fputs(fmt::format("model=REV PH\n").c_str(), file);
+        std::fputs(fmt::format("deviceID={:x}\n", (0x9052600 | module)).c_str(),
+                   file);
+        std::fputs(fmt::format("currentVersion={}.{}.{}", version.FirmwareMajor,
+                               version.FirmwareMinor, version.FirmwareFix)
+                       .c_str(),
+                   file);
+        std::fclose(file);
+      }
+    }
+
+    // Check PH firmware version
     if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
       throw FRC_MakeError(
           err::AssertionFailure,