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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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26
simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
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@@ -18,24 +18,24 @@ using namespace halsim;
HAL_JoystickPOV DegreesToPOV(int degrees) {
switch (degrees) {
case 0:
return HAL_JoystickPOV_kUp;
return HAL_JOYSTICK_POV_UP;
case 45:
return HAL_JoystickPOV_kRightUp;
return HAL_JOYSTICK_POV_RIGHT_UP;
case 90:
return HAL_JoystickPOV_kRight;
return HAL_JOYSTICK_POV_RIGHT;
case 135:
return HAL_JoystickPOV_kRightDown;
return HAL_JOYSTICK_POV_RIGHT_DOWN;
case 180:
return HAL_JoystickPOV_kDown;
return HAL_JOYSTICK_POV_DOWN;
case 225:
return HAL_JoystickPOV_kLeftDown;
return HAL_JOYSTICK_POV_LEFT_DOWN;
case 270:
return HAL_JoystickPOV_kLeft;
return HAL_JOYSTICK_POV_LEFT;
case 315:
return HAL_JoystickPOV_kLeftUp;
return HAL_JOYSTICK_POV_LEFT_UP;
case -1:
default:
return HAL_JoystickPOV_kCentered;
return HAL_JOYSTICK_POV_CENTERED;
}
}
@@ -54,11 +54,11 @@ DSCommPacket::DSCommPacket() {
void DSCommPacket::SetControl(uint8_t control, uint8_t request) {
HAL_RobotMode robotMode;
if ((control & kAutonomous) != 0) {
robotMode = HAL_ROBOTMODE_AUTONOMOUS;
robotMode = HAL_ROBOT_MODE_AUTONOMOUS;
} else if ((control & kTest) != 0) {
robotMode = HAL_ROBOTMODE_TEST;
robotMode = HAL_ROBOT_MODE_TEST;
} else {
robotMode = HAL_ROBOTMODE_TELEOPERATED;
robotMode = HAL_ROBOT_MODE_TELEOPERATED;
}
m_control_word = HAL_MakeControlWord(
wpi::hal::GetDashboardSelectedOpMode(robotMode), robotMode,
@@ -256,7 +256,7 @@ void DSCommPacket::ReadJoystickDescriptionTag(std::span<const uint8_t> data) {
}
void DSCommPacket::SendJoysticks(void) {
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
DSCommJoystickPacket& packet = m_joystick_packets[i];
HALSIM_SetJoystickAxes(i, &packet.axes);
HALSIM_SetJoystickPOVs(i, &packet.povs);

2
simulation/halsim_ds_socket/src/main/native/include/wpi/halsim/ds_socket/DSCommPacket.hpp
View File

@@ -63,7 +63,7 @@ class DSCommPacket {
HAL_ControlWord m_control_word;
HAL_AllianceStationID m_alliance_station;
HAL_MatchInfo matchInfo;
std::array<DSCommJoystickPacket, HAL_kMaxJoysticks> m_joystick_packets;
std::array<DSCommJoystickPacket, HAL_MAX_JOYSTICKS> m_joystick_packets;
double m_match_time = -1;
};

10
simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
View File

@@ -34,7 +34,7 @@ class DSCommPacketTest : public ::testing::Test {
};
TEST_F(DSCommPacketTest, EmptyJoystickTag) {
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
uint8_t arr[2];
auto& data = ReadJoystickTag(arr, 0);
ASSERT_EQ(data.axes.available, 0);
@@ -44,7 +44,7 @@ TEST_F(DSCommPacketTest, EmptyJoystickTag) {
}
TEST_F(DSCommPacketTest, BlankJoystickTag) {
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
uint8_t arr[5];
arr[0] = 4;
arr[1] = 2;
@@ -59,7 +59,7 @@ TEST_F(DSCommPacketTest, BlankJoystickTag) {
}
TEST_F(DSCommPacketTest, MainJoystickTag) {
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
// Just random data
std::array<uint8_t, 12> _buttons{{0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1}};
@@ -94,7 +94,7 @@ TEST_F(DSCommPacketTest, MainJoystickTag) {
}
TEST_F(DSCommPacketTest, DescriptorTag) {
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; i++) {
uint8_t arr[] = {// Size (2), tag
0, 0, 7,
// Joystick index, Is Xbox, Type
@@ -123,7 +123,7 @@ TEST_F(DSCommPacketTest, MatchInfoTag) {
arr[1] = sizeof(arr) - 2;
auto& matchInfo = ReadNewMatchInfoTag(arr);
ASSERT_STREQ(matchInfo.eventName, "WCBC");
ASSERT_EQ(matchInfo.matchType, HAL_MatchType::HAL_kMatchType_qualification);
ASSERT_EQ(matchInfo.matchType, HAL_MatchType::HAL_MATCH_TYPE_QUALIFICATION);
ASSERT_EQ(matchInfo.matchNumber, 18);
ASSERT_EQ(matchInfo.replayNumber, 1);
}

80
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
View File

@@ -200,11 +200,11 @@ class JoystickModel {
int axisCount;
int buttonCount;
int povCount;
std::unique_ptr<wpi::glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
std::unique_ptr<wpi::glass::DoubleSource> axes[HAL_MAX_JOYSTICK_AXES];
// use pointer instead of unique_ptr to allow it to be passed directly
// to DrawLEDSources()
wpi::glass::BooleanSource* buttons[32];
std::unique_ptr<wpi::glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];
std::unique_ptr<wpi::glass::IntegerSource> povs[HAL_MAX_JOYSTICK_POVS];
private:
static void CallbackFunc(const char*, void* param, const HAL_Value*);
@@ -276,7 +276,7 @@ static std::vector<std::unique_ptr<GlfwKeyboardJoystick>> gKeyboardJoysticks;
// robot joysticks
static std::vector<RobotJoystick> gRobotJoysticks;
static std::unique_ptr<JoystickModel> gJoystickSources[HAL_kMaxJoysticks];
static std::unique_ptr<JoystickModel> gJoystickSources[HAL_MAX_JOYSTICKS];
// FMS
static std::unique_ptr<FMSSimModel> gFMSModel;
@@ -323,13 +323,13 @@ static void UpdateOpModes(const char* name, void* param,
for (auto&& o : std::span{opmodes, opmodes + count}) {
OpModes* vec;
switch (HAL_OpMode_GetRobotMode(o.id)) {
case HAL_ROBOTMODE_AUTONOMOUS:
case HAL_ROBOT_MODE_AUTONOMOUS:
vec = &gAutoOpModes;
break;
case HAL_ROBOTMODE_TELEOPERATED:
case HAL_ROBOT_MODE_TELEOPERATED:
vec = &gTeleopOpModes;
break;
case HAL_ROBOTMODE_TEST:
case HAL_ROBOT_MODE_TEST:
vec = &gTestOpModes;
break;
default:
@@ -488,9 +488,9 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
data->desc.gamepadType = 1; // Standard
std::strncpy(data->desc.name, m_name, sizeof(data->desc.name) - 1);
data->desc.name[sizeof(data->desc.name) - 1] = '\0';
int axesCount = (std::min)(m_axisCount, HAL_kMaxJoystickAxes);
int axesCount = (std::min)(m_axisCount, HAL_MAX_JOYSTICK_AXES);
int buttonCount = (std::min)(m_buttonCount, 64);
int povsCount = (std::min)(m_hatCount, HAL_kMaxJoystickPOVs);
int povsCount = (std::min)(m_hatCount, HAL_MAX_JOYSTICK_POVS);
if (buttonCount < 64) {
data->buttons.available = (1ULL << buttonCount) - 1;
@@ -669,8 +669,8 @@ void KeyboardJoystick::SettingsDisplay() {
if (ImGui::InputInt("Count", &m_axisCount)) {
if (m_axisCount < 0) {
m_axisCount = 0;
} else if (m_axisCount > HAL_kMaxJoystickAxes) {
m_axisCount = HAL_kMaxJoystickAxes;
} else if (m_axisCount > HAL_MAX_JOYSTICK_AXES) {
m_axisCount = HAL_MAX_JOYSTICK_AXES;
}
}
while (m_axisCount > static_cast<int>(m_axisConfig.size())) {
@@ -726,8 +726,8 @@ void KeyboardJoystick::SettingsDisplay() {
if (m_povCount < 0) {
m_povCount = 0;
}
if (m_povCount > HAL_kMaxJoystickPOVs) {
m_povCount = HAL_kMaxJoystickPOVs;
if (m_povCount > HAL_MAX_JOYSTICK_POVS) {
m_povCount = HAL_MAX_JOYSTICK_POVS;
}
}
while (m_povCount > static_cast<int>(m_povConfig.size())) {
@@ -837,23 +837,23 @@ void KeyboardJoystick::Update() {
for (int i = 0; i < povsCount; ++i) {
auto& config = m_povConfig[i];
auto& povValue = m_data.povs.povs[i];
povValue = HAL_JoystickPOV_kCentered;
povValue = HAL_JOYSTICK_POV_CENTERED;
if (IsKeyDown(io, config.keyUp)) {
povValue = HAL_JoystickPOV_kUp;
povValue = HAL_JOYSTICK_POV_UP;
} else if (IsKeyDown(io, config.keyUpRight)) {
povValue = HAL_JoystickPOV_kRightUp;
povValue = HAL_JOYSTICK_POV_RIGHT_UP;
} else if (IsKeyDown(io, config.keyRight)) {
povValue = HAL_JoystickPOV_kRight;
povValue = HAL_JOYSTICK_POV_RIGHT;
} else if (IsKeyDown(io, config.keyDownRight)) {
povValue = HAL_JoystickPOV_kRightDown;
povValue = HAL_JOYSTICK_POV_RIGHT_DOWN;
} else if (IsKeyDown(io, config.keyDown)) {
povValue = HAL_JoystickPOV_kDown;
povValue = HAL_JOYSTICK_POV_DOWN;
} else if (IsKeyDown(io, config.keyDownLeft)) {
povValue = HAL_JoystickPOV_kLeftDown;
povValue = HAL_JOYSTICK_POV_LEFT_DOWN;
} else if (IsKeyDown(io, config.keyLeft)) {
povValue = HAL_JoystickPOV_kLeft;
povValue = HAL_JOYSTICK_POV_LEFT;
} else if (IsKeyDown(io, config.keyUpLeft)) {
povValue = HAL_JoystickPOV_kLeftUp;
povValue = HAL_JOYSTICK_POV_LEFT_UP;
}
}
@@ -1082,7 +1082,7 @@ static void DriverStationSetEnabled(bool enabled) {
static void DriverStationExecute() {
// update sources
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; ++i) {
auto& source = gJoystickSources[i];
uint16_t axesAvailable;
uint8_t povsAvailable;
@@ -1196,17 +1196,17 @@ static void DriverStationExecute() {
}
if (ImGui::Selectable(
"Autonomous",
isAttached && robotMode == HAL_ROBOTMODE_AUTONOMOUS)) {
DriverStationSetRobotMode(HAL_ROBOTMODE_AUTONOMOUS);
isAttached && robotMode == HAL_ROBOT_MODE_AUTONOMOUS)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS);
}
if (ImGui::Selectable(
"Teleoperated",
isAttached && robotMode == HAL_ROBOTMODE_TELEOPERATED)) {
DriverStationSetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
isAttached && robotMode == HAL_ROBOT_MODE_TELEOPERATED)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_TELEOPERATED);
}
if (ImGui::Selectable("Test",
isAttached && robotMode == HAL_ROBOTMODE_TEST)) {
DriverStationSetRobotMode(HAL_ROBOTMODE_TEST);
isAttached && robotMode == HAL_ROBOT_MODE_TEST)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_TEST);
}
// OpMode
bool canEnable = isAttached && started;
@@ -1217,13 +1217,13 @@ static void DriverStationExecute() {
} else {
OpModes* modes;
switch (robotMode) {
case HAL_ROBOTMODE_AUTONOMOUS:
case HAL_ROBOT_MODE_AUTONOMOUS:
modes = &gAutoOpModes;
break;
case HAL_ROBOTMODE_TELEOPERATED:
case HAL_ROBOT_MODE_TELEOPERATED:
modes = &gTeleopOpModes;
break;
case HAL_ROBOTMODE_TEST:
case HAL_ROBOT_MODE_TEST:
modes = &gTestOpModes;
break;
default:
@@ -1286,9 +1286,9 @@ static void DriverStationExecute() {
}
// Update HAL
if (isAttached && robotMode != HAL_ROBOTMODE_AUTONOMOUS) {
if (isAttached && robotMode != HAL_ROBOT_MODE_AUTONOMOUS) {
for (int i = 0, end = gRobotJoysticks.size();
i < end && i < HAL_kMaxJoysticks; ++i) {
i < end && i < HAL_MAX_JOYSTICKS; ++i) {
gRobotJoysticks[i].SetHAL(i);
}
}
@@ -1305,7 +1305,7 @@ static void DriverStationExecute() {
FMSSimModel::FMSSimModel() {
m_matchTime.SetValue(-1.0);
m_allianceStationId.SetValue(HAL_AllianceStationID_kRed1);
m_allianceStationId.SetValue(HAL_ALLIANCE_STATION_RED_1);
}
void FMSSimModel::UpdateHAL() {
@@ -1415,10 +1415,10 @@ static void DisplaySystemJoysticks() {
static void DisplayJoysticks() {
bool disableDS = IsDSDisabled();
// imgui doesn't size columns properly with autoresize, so force it
ImGui::Dummy(ImVec2(ImGui::GetFontSize() * 10 * HAL_kMaxJoysticks, 0));
ImGui::Dummy(ImVec2(ImGui::GetFontSize() * 10 * HAL_MAX_JOYSTICKS, 0));
ImGui::Columns(HAL_kMaxJoysticks, "Joysticks", false);
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
ImGui::Columns(HAL_MAX_JOYSTICKS, "Joysticks", false);
for (int i = 0; i < HAL_MAX_JOYSTICKS; ++i) {
auto& joy = gRobotJoysticks[i];
char label[128];
joy.name.GetLabel(label, sizeof(label), "Joystick", i);
@@ -1459,7 +1459,7 @@ static void DisplayJoysticks() {
}
ImGui::Separator();
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
for (int i = 0; i < HAL_MAX_JOYSTICKS; ++i) {
auto& joy = gRobotJoysticks[i];
auto source = gJoystickSources[i].get();
@@ -1603,8 +1603,8 @@ void DriverStationGui::GlobalInit() {
}
auto& robotJoystickStorage = storageRoot.GetChildArray("robotJoysticks");
robotJoystickStorage.resize(HAL_kMaxJoysticks);
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
robotJoystickStorage.resize(HAL_MAX_JOYSTICKS);
for (int i = 0; i < HAL_MAX_JOYSTICKS; ++i) {
if (!robotJoystickStorage[i]) {
robotJoystickStorage[i] = std::make_unique<wpi::glass::Storage>();
}

26
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
View File

@@ -63,25 +63,25 @@ void HALSimWSProviderDriverStation::RegisterCallbacks() {
[](const char* name, void* param, const struct HAL_Value* value) {
std::string station;
switch (static_cast<HAL_AllianceStationID>(value->data.v_enum)) {
case HAL_AllianceStationID_kRed1:
case HAL_ALLIANCE_STATION_RED_1:
station = "red1";
break;
case HAL_AllianceStationID_kBlue1:
case HAL_ALLIANCE_STATION_BLUE_1:
station = "blue1";
break;
case HAL_AllianceStationID_kRed2:
case HAL_ALLIANCE_STATION_RED_2:
station = "red2";
break;
case HAL_AllianceStationID_kBlue2:
case HAL_ALLIANCE_STATION_BLUE_2:
station = "blue2";
break;
case HAL_AllianceStationID_kRed3:
case HAL_ALLIANCE_STATION_RED_3:
station = "red3";
break;
case HAL_AllianceStationID_kBlue3:
case HAL_ALLIANCE_STATION_BLUE_3:
station = "blue3";
break;
case HAL_AllianceStationID_kUnknown:
case HAL_ALLIANCE_STATION_UNKNOWN:
station = "unknown";
break;
}
@@ -144,17 +144,17 @@ void HALSimWSProviderDriverStation::OnNetValueChanged(
if ((it = json.find(">station")) != json.end()) {
auto& station = it.value().get_ref<const std::string&>();
if (station == "red1") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kRed1);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_RED_1);
} else if (station == "red2") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kRed2);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_RED_2);
} else if (station == "red3") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kRed3);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_RED_3);
} else if (station == "blue1") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kBlue1);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_BLUE_1);
} else if (station == "blue2") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kBlue2);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_BLUE_2);
} else if (station == "blue3") {
HALSIM_SetDriverStationAllianceStationId(HAL_AllianceStationID_kBlue3);
HALSIM_SetDriverStationAllianceStationId(HAL_ALLIANCE_STATION_BLUE_3);
}
}

14
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
View File

@@ -16,7 +16,7 @@ namespace wpilibws {
extern std::atomic<bool>* gDSSocketConnected;
void HALSimWSProviderJoystick::Initialize(WSRegisterFunc webregisterFunc) {
CreateProviders<HALSimWSProviderJoystick>("Joystick", HAL_kMaxJoysticks,
CreateProviders<HALSimWSProviderJoystick>("Joystick", HAL_MAX_JOYSTICKS,
webregisterFunc);
}
@@ -106,9 +106,9 @@ void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::util::json& json) {
wpi::util::json::const_iterator it;
if ((it = json.find(">axes")) != json.end()) {
HAL_JoystickAxes axes{};
wpi::util::json::size_type axesCount =
std::min(it.value().size(),
static_cast<wpi::util::json::size_type>(HAL_kMaxJoystickAxes));
wpi::util::json::size_type axesCount = std::min(
it.value().size(),
static_cast<wpi::util::json::size_type>(HAL_MAX_JOYSTICK_AXES));
axes.available = (1 << axesCount) - 1;
for (wpi::util::json::size_type i = 0; i < axesCount; i++) {
axes.axes[i] = it.value()[i];
@@ -137,9 +137,9 @@ void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::util::json& json) {
if ((it = json.find(">povs")) != json.end()) {
HAL_JoystickPOVs povs{};
wpi::util::json::size_type povsCount =
std::min(it.value().size(),
static_cast<wpi::util::json::size_type>(HAL_kMaxJoystickPOVs));
wpi::util::json::size_type povsCount = std::min(
it.value().size(),
static_cast<wpi::util::json::size_type>(HAL_MAX_JOYSTICK_POVS));
povs.available = (1 << povsCount) - 1;
for (wpi::util::json::size_type i = 0; i < povsCount; i++) {
povs.povs[i] = it.value()[i];