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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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106
wpilibc/src/main/native/cpp/driverstation/DriverStation.cpp
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@@ -138,7 +138,7 @@ class DataLogSender {
wpi::log::StringLogEntry m_logOpMode;
bool m_logJoysticks;
std::array<JoystickLogSender, DriverStation::kJoystickPorts> m_joysticks;
std::array<JoystickLogSender, DriverStation::JOYSTICK_PORTS> m_joysticks;
};
struct Instance {
@@ -151,10 +151,10 @@ struct Instance {
// Joystick button rising/falling edge flags
wpi::util::mutex buttonEdgeMutex;
std::array<HAL_JoystickButtons, DriverStation::kJoystickPorts>
std::array<HAL_JoystickButtons, DriverStation::JOYSTICK_PORTS>
previousButtonStates;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsPressed;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsReleased;
std::array<uint32_t, DriverStation::JOYSTICK_PORTS> joystickButtonsPressed;
std::array<uint32_t, DriverStation::JOYSTICK_PORTS> joystickButtonsReleased;
bool silenceJoystickWarning = false;
@@ -212,7 +212,7 @@ Instance::Instance() {
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to motor controllers.
for (unsigned int i = 0; i < DriverStation::kJoystickPorts; i++) {
for (unsigned int i = 0; i < DriverStation::JOYSTICK_PORTS; i++) {
joystickButtonsPressed[i] = 0;
joystickButtonsReleased[i] = 0;
previousButtonStates[i].available = 0;
@@ -227,7 +227,7 @@ Instance::~Instance() {
}
bool DriverStation::GetStickButton(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -253,7 +253,7 @@ bool DriverStation::GetStickButton(int stick, int button) {
std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
int button) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -276,7 +276,7 @@ std::optional<bool> DriverStation::GetStickButtonIfAvailable(int stick,
}
bool DriverStation::GetStickButtonPressed(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -307,7 +307,7 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
}
bool DriverStation::GetStickButtonReleased(int stick, int button) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -338,11 +338,11 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
}
double DriverStation::GetStickAxis(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
}
if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
if (axis < 0 || axis >= HAL_MAX_JOYSTICK_AXES) {
WPILIB_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
return 0.0;
}
@@ -363,16 +363,16 @@ double DriverStation::GetStickAxis(int stick, int axis) {
DriverStation::TouchpadFinger DriverStation::GetStickTouchpadFinger(
int stick, int touchpad, int finger) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return TouchpadFinger{false, 0.0f, 0.0f};
}
if (touchpad < 0 || touchpad >= HAL_kMaxJoystickTouchpads) {
if (touchpad < 0 || touchpad >= HAL_MAX_JOYSTICK_TOUCHPADS) {
WPILIB_ReportError(warn::BadJoystickAxis, "touchpad {} out of range",
touchpad);
return TouchpadFinger{false, 0.0f, 0.0f};
}
if (finger < 0 || finger >= HAL_kMaxJoystickTouchpadFingers) {
if (finger < 0 || finger >= HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS) {
WPILIB_ReportError(warn::BadJoystickAxis, "finger {} out of range", finger);
return TouchpadFinger{false, 0.0f, 0.0f};
}
@@ -399,16 +399,16 @@ DriverStation::TouchpadFinger DriverStation::GetStickTouchpadFinger(
bool DriverStation::GetStickTouchpadFingerAvailable(int stick, int touchpad,
int finger) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
if (touchpad < 0 || touchpad >= HAL_kMaxJoystickTouchpads) {
if (touchpad < 0 || touchpad >= HAL_MAX_JOYSTICK_TOUCHPADS) {
WPILIB_ReportError(warn::BadJoystickAxis, "touchpad {} out of range",
touchpad);
return false;
}
if (finger < 0 || finger >= HAL_kMaxJoystickTouchpadFingers) {
if (finger < 0 || finger >= HAL_MAX_JOYSTICK_TOUCHPAD_FINGERS) {
WPILIB_ReportError(warn::BadJoystickAxis, "finger {} out of range", finger);
return false;
}
@@ -428,11 +428,11 @@ bool DriverStation::GetStickTouchpadFingerAvailable(int stick, int touchpad,
std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0.0;
}
if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
if (axis < 0 || axis >= HAL_MAX_JOYSTICK_AXES) {
WPILIB_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
return 0.0;
}
@@ -450,13 +450,13 @@ std::optional<double> DriverStation::GetStickAxisIfAvailable(int stick,
}
DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return kCenter;
return POVDirection::CENTER;
}
if (pov < 0 || pov >= HAL_kMaxJoystickPOVs) {
if (pov < 0 || pov >= HAL_MAX_JOYSTICK_POVS) {
WPILIB_ReportError(warn::BadJoystickAxis, "POV {} out of range", pov);
return kCenter;
return POVDirection::CENTER;
}
uint16_t mask = 1 << pov;
@@ -467,14 +467,14 @@ DriverStation::POVDirection DriverStation::GetStickPOV(int stick, int pov) {
if ((povs.available & mask) == 0) {
ReportJoystickWarning(stick, "Joystick POV {} on port {} not available",
pov, stick);
return kCenter;
return POVDirection::CENTER;
}
return static_cast<POVDirection>(povs.povs[pov]);
}
uint64_t DriverStation::GetStickButtons(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -490,7 +490,7 @@ int DriverStation::GetStickAxesMaximumIndex(int stick) {
}
int DriverStation::GetStickAxesAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -506,7 +506,7 @@ int DriverStation::GetStickPOVsMaximumIndex(int stick) {
}
int DriverStation::GetStickPOVsAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -522,7 +522,7 @@ int DriverStation::GetStickButtonsMaximumIndex(int stick) {
}
uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -534,7 +534,7 @@ uint64_t DriverStation::GetStickButtonsAvailable(int stick) {
}
bool DriverStation::GetJoystickIsGamepad(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
}
@@ -546,7 +546,7 @@ bool DriverStation::GetJoystickIsGamepad(int stick) {
}
int DriverStation::GetJoystickGamepadType(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
}
@@ -558,7 +558,7 @@ int DriverStation::GetJoystickGamepadType(int stick) {
}
int DriverStation::GetJoystickSupportedOutputs(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
}
@@ -570,7 +570,7 @@ int DriverStation::GetJoystickSupportedOutputs(int stick) {
}
std::string DriverStation::GetJoystickName(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
if (stick < 0 || stick >= JOYSTICK_PORTS) {
WPILIB_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
}
@@ -723,14 +723,14 @@ std::optional<DriverStation::Alliance> DriverStation::GetAlliance() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kRed3:
return kRed;
case HAL_AllianceStationID_kBlue1:
case HAL_AllianceStationID_kBlue2:
case HAL_AllianceStationID_kBlue3:
return kBlue;
case HAL_ALLIANCE_STATION_RED_1:
case HAL_ALLIANCE_STATION_RED_2:
case HAL_ALLIANCE_STATION_RED_3:
return Alliance::RED;
case HAL_ALLIANCE_STATION_BLUE_1:
case HAL_ALLIANCE_STATION_BLUE_2:
case HAL_ALLIANCE_STATION_BLUE_3:
return Alliance::BLUE;
default:
return {};
}
@@ -740,14 +740,14 @@ std::optional<int> DriverStation::GetLocation() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
case HAL_AllianceStationID_kRed1:
case HAL_AllianceStationID_kBlue1:
case HAL_ALLIANCE_STATION_RED_1:
case HAL_ALLIANCE_STATION_BLUE_1:
return 1;
case HAL_AllianceStationID_kRed2:
case HAL_AllianceStationID_kBlue2:
case HAL_ALLIANCE_STATION_RED_2:
case HAL_ALLIANCE_STATION_BLUE_2:
return 2;
case HAL_AllianceStationID_kRed3:
case HAL_AllianceStationID_kBlue3:
case HAL_ALLIANCE_STATION_RED_3:
case HAL_ALLIANCE_STATION_BLUE_3:
return 3;
default:
return {};
@@ -781,7 +781,7 @@ void DriverStation::RefreshData() {
HAL_JoystickButtons currentButtons;
std::unique_lock lock(inst.buttonEdgeMutex);
for (int32_t i = 0; i < DriverStation::kJoystickPorts; i++) {
for (int32_t i = 0; i < DriverStation::JOYSTICK_PORTS; i++) {
HAL_GetJoystickButtons(i, &currentButtons);
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
@@ -866,23 +866,23 @@ void SendMatchData() {
bool isRedAlliance = false;
int stationNumber = 1;
switch (alliance) {
case HAL_AllianceStationID::HAL_AllianceStationID_kBlue1:
case HAL_ALLIANCE_STATION_BLUE_1:
isRedAlliance = false;
stationNumber = 1;
break;
case HAL_AllianceStationID::HAL_AllianceStationID_kBlue2:
case HAL_ALLIANCE_STATION_BLUE_2:
isRedAlliance = false;
stationNumber = 2;
break;
case HAL_AllianceStationID::HAL_AllianceStationID_kBlue3:
case HAL_ALLIANCE_STATION_BLUE_3:
isRedAlliance = false;
stationNumber = 3;
break;
case HAL_AllianceStationID::HAL_AllianceStationID_kRed1:
case HAL_ALLIANCE_STATION_RED_1:
isRedAlliance = true;
stationNumber = 1;
break;
case HAL_AllianceStationID::HAL_AllianceStationID_kRed2:
case HAL_ALLIANCE_STATION_RED_2:
isRedAlliance = true;
stationNumber = 2;
break;
@@ -989,7 +989,7 @@ void JoystickLogSender::AppendButtons(HAL_JoystickButtons buttons,
void JoystickLogSender::AppendPOVs(const HAL_JoystickPOVs& povs,
uint64_t timestamp) {
int count = availableToCount(povs.available);
int64_t povsArr[HAL_kMaxJoystickPOVs];
int64_t povsArr[HAL_MAX_JOYSTICK_POVS];
for (int i = 0; i < count; ++i) {
povsArr[i] = povs.povs[i];
}