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[hal,wpilib] Rename DriverStation constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-13 01:04:29 -07:00
parent 614eb1db18
commit 227f01f3bd
51 changed files with 555 additions and 550 deletions
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12
hal/src/main/native/cpp/DashboardOpMode.cpp
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@@ -120,9 +120,9 @@ void hal::InitializeDashboardOpMode() {
void hal::SetDashboardOpModeOptions(std::span<const HAL_OpModeOption> options) {
std::scoped_lock lock{gInstance->mutex};
gInstance->autoOpModes.SetOptions(options, HAL_ROBOTMODE_AUTONOMOUS);
gInstance->teleopOpModes.SetOptions(options, HAL_ROBOTMODE_TELEOPERATED);
gInstance->testOpModes.SetOptions(options, HAL_ROBOTMODE_TEST);
gInstance->autoOpModes.SetOptions(options, HAL_ROBOT_MODE_AUTONOMOUS);
gInstance->teleopOpModes.SetOptions(options, HAL_ROBOT_MODE_TELEOPERATED);
gInstance->testOpModes.SetOptions(options, HAL_ROBOT_MODE_TEST);
}
void hal::StartDashboardOpMode() {
@@ -150,11 +150,11 @@ int64_t hal::GetDashboardSelectedOpMode(HAL_RobotMode robotMode) {
}
std::scoped_lock lock{gInstance->mutex};
switch (robotMode) {
case HAL_ROBOTMODE_AUTONOMOUS:
case HAL_ROBOT_MODE_AUTONOMOUS:
return gInstance->autoOpModes.GetSelected();
case HAL_ROBOTMODE_TELEOPERATED:
case HAL_ROBOT_MODE_TELEOPERATED:
return gInstance->teleopOpModes.GetSelected();
case HAL_ROBOTMODE_TEST:
case HAL_ROBOT_MODE_TEST:
return gInstance->testOpModes.GetSelected();
default:
return 0;

53
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -17,32 +17,35 @@
#include "wpi/util/jni_util.hpp"
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_kUnknownAllianceStation ==
HAL_AllianceStationID_kUnknown);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kRed1AllianceStation ==
HAL_AllianceStationID_kRed1);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kRed2AllianceStation ==
HAL_AllianceStationID_kRed2);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kRed3AllianceStation ==
HAL_AllianceStationID_kRed3);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kBlue1AllianceStation ==
HAL_AllianceStationID_kBlue1);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kBlue2AllianceStation ==
HAL_AllianceStationID_kBlue2);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kBlue3AllianceStation ==
HAL_AllianceStationID_kBlue3);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickAxes ==
HAL_kMaxJoystickAxes);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickPOVs ==
HAL_kMaxJoystickPOVs);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoysticks ==
HAL_kMaxJoysticks);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickTouchpads ==
HAL_kMaxJoystickTouchpads);
org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_UNKNOWN ==
HAL_ALLIANCE_STATION_UNKNOWN);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_RED_1 ==
HAL_ALLIANCE_STATION_RED_1);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_RED_2 ==
HAL_ALLIANCE_STATION_RED_2);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_RED_3 ==
HAL_ALLIANCE_STATION_RED_3);
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_kMaxJoystickTouchpadFingers ==
HAL_kMaxJoystickTouchpadFingers);
org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_BLUE_1 ==
HAL_ALLIANCE_STATION_BLUE_1);
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_BLUE_2 ==
HAL_ALLIANCE_STATION_BLUE_2);
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_ALLIANCE_STATION_BLUE_3 ==
HAL_ALLIANCE_STATION_BLUE_3);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_MAX_JOYSTICK_AXES ==
HAL_MAX_JOYSTICK_AXES);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_MAX_JOYSTICK_POVS ==
HAL_MAX_JOYSTICK_POVS);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_MAX_JOYSTICKS ==
HAL_MAX_JOYSTICKS);
static_assert(org_wpilib_hardware_hal_DriverStationJNI_MAX_JOYSTICK_TOUCHPADS ==
HAL_MAX_JOYSTICK_TOUCHPADS);
static_assert(
org_wpilib_hardware_hal_DriverStationJNI_MAX_JOYSTICK_TOUCHPAD_FINGERS ==
HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS);
using namespace wpi::hal;
using namespace wpi::util::java;

4
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
View File

@@ -485,7 +485,7 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickAxes
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =
arraySize < HAL_kMaxJoystickAxes ? arraySize : HAL_kMaxJoystickAxes;
arraySize < HAL_MAX_JOYSTICK_AXES ? arraySize : HAL_MAX_JOYSTICK_AXES;
axes.available = availableAxes;
for (int i = 0; i < maxCount; i++) {
axes.axes[i] = arrayRef[i];
@@ -511,7 +511,7 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickPOVs
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =
arraySize < HAL_kMaxJoystickPOVs ? arraySize : HAL_kMaxJoystickPOVs;
arraySize < HAL_MAX_JOYSTICK_POVS ? arraySize : HAL_MAX_JOYSTICK_POVS;
povs.available = availablePovs;
for (int i = 0; i < maxCount; i++) {
povs.povs[i] = static_cast<HAL_JoystickPOV>(arrayRef[i]);

69
hal/src/main/native/include/wpi/hal/DriverStationTypes.h
View File

@@ -30,33 +30,33 @@ typedef struct HAL_ControlWord HAL_ControlWord;
HAL_ENUM(HAL_AllianceStationID) {
/** Unknown Alliance Station */
HAL_AllianceStationID_kUnknown = 0,
HAL_ALLIANCE_STATION_UNKNOWN = 0,
/** Red Alliance Station 1 */
HAL_AllianceStationID_kRed1,
HAL_ALLIANCE_STATION_RED_1,
/** Red Alliance Station 2 */
HAL_AllianceStationID_kRed2,
HAL_ALLIANCE_STATION_RED_2,
/** Red Alliance Station 3 */
HAL_AllianceStationID_kRed3,
HAL_ALLIANCE_STATION_RED_3,
/** Blue Alliance Station 1 */
HAL_AllianceStationID_kBlue1,
HAL_ALLIANCE_STATION_BLUE_1,
/** Blue Alliance Station 2 */
HAL_AllianceStationID_kBlue2,
HAL_ALLIANCE_STATION_BLUE_2,
/** Blue Alliance Station 3 */
HAL_AllianceStationID_kBlue3,
HAL_ALLIANCE_STATION_BLUE_3,
};
HAL_ENUM(HAL_MatchType) {
HAL_kMatchType_none = 0,
HAL_kMatchType_practice,
HAL_kMatchType_qualification,
HAL_kMatchType_elimination,
HAL_MATCH_TYPE_NONE = 0,
HAL_MATCH_TYPE_PRACTICE,
HAL_MATCH_TYPE_QUALIFICATION,
HAL_MATCH_TYPE_ELIMINATION,
};
HAL_ENUM(HAL_RobotMode) {
HAL_ROBOTMODE_UNKNOWN = 0,
HAL_ROBOTMODE_AUTONOMOUS,
HAL_ROBOTMODE_TELEOPERATED,
HAL_ROBOTMODE_TEST,
HAL_ROBOT_MODE_UNKNOWN = 0,
HAL_ROBOT_MODE_AUTONOMOUS,
HAL_ROBOT_MODE_TELEOPERATED,
HAL_ROBOT_MODE_TEST,
};
/**
@@ -64,63 +64,64 @@ HAL_ENUM(HAL_RobotMode) {
* HAL_JoystickTouchpads struct. This is used for allocating buffers, not
* bounds checking, since there are usually less touchpads in practice.
*/
#define HAL_kMaxJoystickTouchpads 2
#define HAL_MAX_JOYSTICK_TOUCHPADS 2
/**
* The maximum number of fingers that will be stored in a single
* HAL_JoystickTouchpad struct. This is used for allocating buffers, not
* bounds checking, since there are usually less fingers in practice.
*/
#define HAL_kMaxJoystickTouchpadFingers 2
#define HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS 2
/**
* The maximum number of axes that will be stored in a single HAL_JoystickAxes
* struct. This is used for allocating buffers, not bounds checking, since there
* are usually less axes in practice.
*/
#define HAL_kMaxJoystickAxes 12
#define HAL_MAX_JOYSTICK_AXES 12
/**
* The maximum number of POVs that will be stored in a single HAL_JoystickPOVs
* struct. This is used for allocating buffers, not bounds checking, since there
* are usually less POVs in practice.
*/
#define HAL_kMaxJoystickPOVs 8
#define HAL_MAX_JOYSTICK_POVS 8
/**
* The maximum number of joysticks.
*/
#define HAL_kMaxJoysticks 6
#define HAL_MAX_JOYSTICKS 6
struct HAL_JoystickAxes {
uint16_t available;
float axes[HAL_kMaxJoystickAxes];
int16_t raw[HAL_kMaxJoystickAxes];
float axes[HAL_MAX_JOYSTICK_AXES];
int16_t raw[HAL_MAX_JOYSTICK_AXES];
};
typedef struct HAL_JoystickAxes HAL_JoystickAxes;
HAL_ENUM_WITH_UNDERLYING_TYPE(HAL_JoystickPOV, uint8_t){
/** Centered */
HAL_JoystickPOV_kCentered = 0x00u,
HAL_JOYSTICK_POV_CENTERED = 0x00u,
/** Up */
HAL_JoystickPOV_kUp = 0x01u,
HAL_JOYSTICK_POV_UP = 0x01u,
/** Right */
HAL_JoystickPOV_kRight = 0x02u,
HAL_JOYSTICK_POV_RIGHT = 0x02u,
/** Down */
HAL_JoystickPOV_kDown = 0x04u,
HAL_JOYSTICK_POV_DOWN = 0x04u,
/** Left */
HAL_JoystickPOV_kLeft = 0x08u,
HAL_JOYSTICK_POV_LEFT = 0x08u,
/** Right-Up */
HAL_JoystickPOV_kRightUp = HAL_JoystickPOV_kRight | HAL_JoystickPOV_kUp,
HAL_JOYSTICK_POV_RIGHT_UP = HAL_JOYSTICK_POV_RIGHT | HAL_JOYSTICK_POV_UP,
/** Right-Down */
HAL_JoystickPOV_kRightDown = HAL_JoystickPOV_kRight | HAL_JoystickPOV_kDown,
HAL_JOYSTICK_POV_RIGHT_DOWN = HAL_JOYSTICK_POV_RIGHT |
HAL_JOYSTICK_POV_DOWN,
/** Left-Up */
HAL_JoystickPOV_kLeftUp = HAL_JoystickPOV_kLeft | HAL_JoystickPOV_kUp,
HAL_JOYSTICK_POV_LEFT_UP = HAL_JOYSTICK_POV_LEFT | HAL_JOYSTICK_POV_UP,
/** Left-Down */
HAL_JoystickPOV_kLeftDown = HAL_JoystickPOV_kLeft | HAL_JoystickPOV_kDown,
HAL_JOYSTICK_POV_LEFT_DOWN = HAL_JOYSTICK_POV_LEFT | HAL_JOYSTICK_POV_DOWN,
};
struct HAL_JoystickPOVs {
uint8_t available;
HAL_JoystickPOV povs[HAL_kMaxJoystickPOVs];
HAL_JoystickPOV povs[HAL_MAX_JOYSTICK_POVS];
};
typedef struct HAL_JoystickPOVs HAL_JoystickPOVs;
@@ -139,13 +140,13 @@ typedef struct HAL_JoystickTouchpadFinger HAL_JoystickTouchpadFinger;
struct HAL_JoystickTouchpad {
uint8_t count;
HAL_JoystickTouchpadFinger fingers[HAL_kMaxJoystickTouchpadFingers];
HAL_JoystickTouchpadFinger fingers[HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS];
};
typedef struct HAL_JoystickTouchpad HAL_JoystickTouchpad;
struct HAL_JoystickTouchpads {
uint8_t count;
HAL_JoystickTouchpad touchpads[HAL_kMaxJoystickTouchpads];
HAL_JoystickTouchpad touchpads[HAL_MAX_JOYSTICK_TOUCHPADS];
};
typedef struct HAL_JoystickTouchpads HAL_JoystickTouchpads;

8
hal/src/main/native/include/wpi/hal/DriverStationTypes.hpp
View File

@@ -14,13 +14,13 @@ namespace wpi::hal {
*/
enum class RobotMode {
/// Unknown.
UNKNOWN = HAL_ROBOTMODE_UNKNOWN,
UNKNOWN = HAL_ROBOT_MODE_UNKNOWN,
/// Autonomous.
AUTONOMOUS = HAL_ROBOTMODE_AUTONOMOUS,
AUTONOMOUS = HAL_ROBOT_MODE_AUTONOMOUS,
/// Teleoperated.
TELEOPERATED = HAL_ROBOTMODE_TELEOPERATED,
TELEOPERATED = HAL_ROBOT_MODE_TELEOPERATED,
/// Test.
TEST = HAL_ROBOTMODE_TEST
TEST = HAL_ROBOT_MODE_TEST
};
/**

8
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -80,7 +80,7 @@ void JoystickDataCache::Update() {
}
#define CHECK_JOYSTICK_NUMBER(stickNum) \
if ((stickNum) < 0 || (stickNum) >= HAL_kMaxJoysticks) \
if ((stickNum) < 0 || (stickNum) >= HAL_MAX_JOYSTICKS) \
return PARAMETER_OUT_OF_RANGE
static HAL_ControlWord newestControlWord;
@@ -98,7 +98,7 @@ struct TcpCache {
void CloneTo(TcpCache* other) { std::memcpy(other, this, sizeof(*this)); }
HAL_MatchInfo matchInfo;
HAL_JoystickDescriptor descriptors[HAL_kMaxJoysticks];
HAL_JoystickDescriptor descriptors[HAL_MAX_JOYSTICKS];
};
static_assert(std::is_standard_layout_v<TcpCache>);
} // namespace
@@ -109,7 +109,7 @@ static TcpCache tcpCurrent;
void TcpCache::Update() {
SimDriverStationData->GetMatchInfo(&matchInfo);
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
SimDriverStationData->GetJoystickDescriptor(i, &descriptors[i]);
}
}
@@ -259,7 +259,7 @@ int32_t HAL_SetOpModeOptions(const struct HAL_OpModeOption* options,
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
if (gShutdown) {
return HAL_AllianceStationID_kUnknown;
return HAL_ALLIANCE_STATION_UNKNOWN;
}
std::scoped_lock lock{driverStation->cacheMutex};
return currentRead->allianceStation;

10
hal/src/main/native/sim/mockdata/DriverStationData.cpp
View File

@@ -46,7 +46,7 @@ DriverStationData::~DriverStationData() {
void DriverStationData::ResetData() {
enabled.Reset(false);
robotMode.Reset(HAL_ROBOTMODE_UNKNOWN);
robotMode.Reset(HAL_ROBOT_MODE_UNKNOWN);
eStop.Reset(false);
fmsAttached.Reset(false);
dsAttached.Reset(false);
@@ -413,7 +413,7 @@ void DriverStationData::SetJoystickAxis(int32_t stick, int32_t axis,
if (stick < 0 || stick >= kNumJoysticks) {
return;
}
if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
if (axis < 0 || axis >= HAL_MAX_JOYSTICK_AXES) {
return;
}
std::scoped_lock lock(m_joystickDataMutex);
@@ -426,7 +426,7 @@ void DriverStationData::SetJoystickPOV(int32_t stick, int32_t pov,
if (stick < 0 || stick >= kNumJoysticks) {
return;
}
if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) {
if (pov < 0 || pov >= HAL_MAX_JOYSTICK_POVS) {
return;
}
std::scoped_lock lock(m_joystickDataMutex);
@@ -510,10 +510,10 @@ void DriverStationData::SetJoystickTouchpadFinger(int32_t stick,
if (stick < 0 || stick >= kNumJoysticks) {
return;
}
if (touchpad < 0 || touchpad >= HAL_kMaxJoystickTouchpads) {
if (touchpad < 0 || touchpad >= HAL_MAX_JOYSTICK_TOUCHPADS) {
return;
}
if (finger < 0 || finger >= HAL_kMaxJoystickTouchpadFingers) {
if (finger < 0 || finger >= HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS) {
return;
}
std::scoped_lock lock(m_joystickDataMutex);

2
hal/src/main/native/sim/mockdata/DriverStationDataInternal.hpp
View File

@@ -168,7 +168,7 @@ class DriverStationData {
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEnabledName> enabled{false};
SimDataValue<HAL_RobotMode, MakeRobotModeValue, GetRobotModeName> robotMode{
HAL_ROBOTMODE_UNKNOWN};
HAL_ROBOT_MODE_UNKNOWN};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEStopName> eStop{false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFmsAttachedName> fmsAttached{
false};

25
hal/src/main/native/systemcore/FIRSTDriverStation.cpp
View File

@@ -45,21 +45,22 @@
static_assert(sizeof(int32_t) >= sizeof(int),
"WPILIB_NetworkComm status variable is larger than 32 bits");
static_assert(MRC_MAX_NUM_AXES == HAL_kMaxJoystickAxes);
static_assert(MRC_MAX_NUM_POVS == HAL_kMaxJoystickPOVs);
static_assert(MRC_MAX_NUM_JOYSTICKS == HAL_kMaxJoysticks);
static_assert(MRC_MAX_NUM_TOUCHPADS == HAL_kMaxJoystickTouchpads);
static_assert(MRC_MAX_NUM_TOUCHPAD_FINGERS == HAL_kMaxJoystickTouchpadFingers);
static_assert(MRC_MAX_NUM_AXES == HAL_MAX_JOYSTICK_AXES);
static_assert(MRC_MAX_NUM_POVS == HAL_MAX_JOYSTICK_POVS);
static_assert(MRC_MAX_NUM_JOYSTICKS == HAL_MAX_JOYSTICKS);
static_assert(MRC_MAX_NUM_TOUCHPADS == HAL_MAX_JOYSTICK_TOUCHPADS);
static_assert(MRC_MAX_NUM_TOUCHPAD_FINGERS ==
HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS);
namespace {
struct JoystickDataCache {
JoystickDataCache() { std::memset(this, 0, sizeof(*this)); }
void Update(const mrc::ControlData& data);
HAL_JoystickAxes axes[HAL_kMaxJoysticks];
HAL_JoystickPOVs povs[HAL_kMaxJoysticks];
HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
HAL_JoystickTouchpads touchpads[HAL_kMaxJoysticks];
HAL_JoystickAxes axes[HAL_MAX_JOYSTICKS];
HAL_JoystickPOVs povs[HAL_MAX_JOYSTICKS];
HAL_JoystickButtons buttons[HAL_MAX_JOYSTICKS];
HAL_JoystickTouchpads touchpads[HAL_MAX_JOYSTICKS];
HAL_AllianceStationID allianceStation;
float matchTime;
HAL_ControlWord controlWord;
@@ -301,7 +302,7 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
}
}
// Mark remaining sticks as unavailable
for (size_t i = sticks.size(); i < HAL_kMaxJoysticks; i++) {
for (size_t i = sticks.size(); i < HAL_MAX_JOYSTICKS; i++) {
axes[i].available = 0;
povs[i].available = 0;
buttons[i].available = 0;
@@ -310,7 +311,7 @@ void JoystickDataCache::Update(const mrc::ControlData& data) {
}
#define CHECK_JOYSTICK_NUMBER(stickNum) \
if ((stickNum) < 0 || (stickNum) >= HAL_kMaxJoysticks) \
if ((stickNum) < 0 || (stickNum) >= HAL_MAX_JOYSTICKS) \
return PARAMETER_OUT_OF_RANGE
static HAL_ControlWord newestControlWord;
@@ -327,7 +328,7 @@ struct TcpCache {
void CloneTo(TcpCache* other) { std::memcpy(other, this, sizeof(*this)); }
HAL_MatchInfo matchInfo;
HAL_JoystickDescriptor descriptors[HAL_kMaxJoysticks];
HAL_JoystickDescriptor descriptors[HAL_MAX_JOYSTICKS];
};
static_assert(std::is_standard_layout_v<TcpCache>);
} // namespace

4
hal/src/main/native/systemcore/mockdata/DriverStationData.cpp
View File

@@ -15,12 +15,12 @@ void HALSIM_ResetDriverStationData(void) {}
RETURN)
DEFINE_CAPI(HAL_Bool, Enabled, false)
DEFINE_CAPI(HAL_RobotMode, RobotMode, HAL_ROBOTMODE_UNKNOWN)
DEFINE_CAPI(HAL_RobotMode, RobotMode, HAL_ROBOT_MODE_UNKNOWN)
DEFINE_CAPI(HAL_Bool, EStop, false)
DEFINE_CAPI(HAL_Bool, FmsAttached, false)
DEFINE_CAPI(HAL_Bool, DsAttached, false)
DEFINE_CAPI(HAL_AllianceStationID, AllianceStationId,
HAL_AllianceStationID_kRed1)
HAL_ALLIANCE_STATION_RED_1)
DEFINE_CAPI(double, MatchTime, 0)
DEFINE_CAPI(int64_t, OpMode, 0)