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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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144
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
View File

@@ -67,7 +67,7 @@ public final class DriverStation {
private static class HALJoystickTouchpad {
public final HALJoystickTouchpadFinger[] m_fingers =
new HALJoystickTouchpadFinger[DriverStationJNI.kMaxJoystickTouchpadFingers];
new HALJoystickTouchpadFinger[DriverStationJNI.MAX_JOYSTICK_TOUCHPAD_FINGERS];
public int m_count;
HALJoystickTouchpad() {
@@ -79,7 +79,7 @@ public final class DriverStation {
private static class HALJoystickTouchpads {
public final HALJoystickTouchpad[] m_touchpads =
new HALJoystickTouchpad[DriverStationJNI.kMaxJoystickTouchpads];
new HALJoystickTouchpad[DriverStationJNI.MAX_JOYSTICK_TOUCHPADS];
public int m_count;
HALJoystickTouchpads() {
@@ -129,21 +129,21 @@ public final class DriverStation {
/** The robot alliance that the robot is a part of. */
public enum Alliance {
/** Red alliance. */
Red,
RED,
/** Blue alliance. */
Blue
BLUE
}
/** The type of robot match that the robot is part of. */
public enum MatchType {
/** None. */
None,
NONE,
/** Practice. */
Practice,
PRACTICE,
/** Qualification. */
Qualification,
QUALIFICATION,
/** Elimination. */
Elimination
ELIMINATION
}
/** Represents a finger on a touchpad. */
@@ -175,23 +175,23 @@ public final class DriverStation {
/** A controller POV direction. */
public enum POVDirection {
/** POV center. */
Center(0x00),
CENTER(0x00),
/** POV up. */
Up(0x01),
UP(0x01),
/** POV up right. */
UpRight(0x01 | 0x02),
UP_RIGHT(0x01 | 0x02),
/** POV right. */
Right(0x02),
RIGHT(0x02),
/** POV down right. */
DownRight(0x02 | 0x04),
DOWN_RIGHT(0x02 | 0x04),
/** POV down. */
Down(0x04),
DOWN(0x04),
/** POV down left. */
DownLeft(0x04 | 0x08),
DOWN_LEFT(0x04 | 0x08),
/** POV left. */
Left(0x08),
LEFT(0x08),
/** POV up left. */
UpLeft(0x01 | 0x08);
UP_LEFT(0x01 | 0x08);
private static final double INVALID_POV_VALUE_INTERVAL = 1.0;
private static double s_nextMessageTime;
@@ -214,7 +214,7 @@ public final class DriverStation {
reportError("Invalid POV value " + value + "!", false);
s_nextMessageTime = currentTime + INVALID_POV_VALUE_INTERVAL;
}
return Center;
return CENTER;
}
/** The corresponding HAL value. */
@@ -232,15 +232,15 @@ public final class DriverStation {
*/
public Optional<Rotation2d> getAngle() {
return switch (this) {
case Center -> Optional.empty();
case Up -> Optional.of(Rotation2d.fromDegrees(0));
case UpRight -> Optional.of(Rotation2d.fromDegrees(45));
case Right -> Optional.of(Rotation2d.fromDegrees(90));
case DownRight -> Optional.of(Rotation2d.fromDegrees(135));
case Down -> Optional.of(Rotation2d.fromDegrees(180));
case DownLeft -> Optional.of(Rotation2d.fromDegrees(225));
case Left -> Optional.of(Rotation2d.fromDegrees(270));
case UpLeft -> Optional.of(Rotation2d.fromDegrees(315));
case CENTER -> Optional.empty();
case UP -> Optional.of(Rotation2d.fromDegrees(0));
case UP_RIGHT -> Optional.of(Rotation2d.fromDegrees(45));
case RIGHT -> Optional.of(Rotation2d.fromDegrees(90));
case DOWN_RIGHT -> Optional.of(Rotation2d.fromDegrees(135));
case DOWN -> Optional.of(Rotation2d.fromDegrees(180));
case DOWN_LEFT -> Optional.of(Rotation2d.fromDegrees(225));
case LEFT -> Optional.of(Rotation2d.fromDegrees(270));
case UP_LEFT -> Optional.of(Rotation2d.fromDegrees(315));
};
}
}
@@ -319,14 +319,14 @@ public final class DriverStation {
AllianceStationID allianceID = DriverStationJNI.getAllianceStation();
final int stationNumber =
switch (allianceID) {
case Blue1, Red1 -> 1;
case Blue2, Red2 -> 2;
case Blue3, Red3, Unknown -> 3;
case BLUE_1, RED_1 -> 1;
case BLUE_2, RED_2 -> 2;
case BLUE_3, RED_3, UNKNOWN -> 3;
};
final boolean isRedAlliance =
switch (allianceID) {
case Blue1, Blue2, Blue3 -> false;
case Red1, Red2, Red3, Unknown -> true;
case BLUE_1, BLUE_2, BLUE_3 -> false;
case RED_1, RED_2, RED_3, UNKNOWN -> true;
};
String currentEventName;
@@ -483,8 +483,8 @@ public final class DriverStation {
float[] m_sizedAxes;
long[] m_sizedPOVs;
final HALJoystickButtons m_prevButtons = new HALJoystickButtons();
final HALJoystickAxes m_prevAxes = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
final HALJoystickPOVs m_prevPOVs = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
final HALJoystickAxes m_prevAxes = new HALJoystickAxes(DriverStationJNI.MAX_JOYSTICK_AXES);
final HALJoystickPOVs m_prevPOVs = new HALJoystickPOVs(DriverStationJNI.MAX_JOYSTICK_POVS);
final BooleanArrayLogEntry m_logButtons;
final FloatArrayLogEntry m_logAxes;
final IntegerArrayLogEntry m_logPOVs;
@@ -594,15 +594,15 @@ public final class DriverStation {
for (int i = 0; i < kJoystickPorts; i++) {
m_joystickButtons[i] = new HALJoystickButtons();
m_joystickAxes[i] = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
m_joystickAxesRaw[i] = new HALJoystickAxesRaw(DriverStationJNI.kMaxJoystickAxes);
m_joystickPOVs[i] = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
m_joystickAxes[i] = new HALJoystickAxes(DriverStationJNI.MAX_JOYSTICK_AXES);
m_joystickAxesRaw[i] = new HALJoystickAxesRaw(DriverStationJNI.MAX_JOYSTICK_AXES);
m_joystickPOVs[i] = new HALJoystickPOVs(DriverStationJNI.MAX_JOYSTICK_POVS);
m_joystickTouchpads[i] = new HALJoystickTouchpads();
m_joystickButtonsCache[i] = new HALJoystickButtons();
m_joystickAxesCache[i] = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
m_joystickAxesRawCache[i] = new HALJoystickAxesRaw(DriverStationJNI.kMaxJoystickAxes);
m_joystickPOVsCache[i] = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
m_joystickAxesCache[i] = new HALJoystickAxes(DriverStationJNI.MAX_JOYSTICK_AXES);
m_joystickAxesRawCache[i] = new HALJoystickAxesRaw(DriverStationJNI.MAX_JOYSTICK_AXES);
m_joystickPOVsCache[i] = new HALJoystickPOVs(DriverStationJNI.MAX_JOYSTICK_POVS);
m_joystickTouchpadsCache[i] = new HALJoystickTouchpads();
}
@@ -699,7 +699,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (button < 0 || button >= DriverStationJNI.kMaxJoystickButtons) {
if (button < 0 || button >= DriverStationJNI.MAX_JOYSTICK_BUTTONS) {
throw new IllegalArgumentException("Joystick Button is out of range");
}
@@ -730,7 +730,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (button < 0 || button >= DriverStationJNI.kMaxJoystickButtons) {
if (button < 0 || button >= DriverStationJNI.MAX_JOYSTICK_BUTTONS) {
throw new IllegalArgumentException("Joystick Button is out of range");
}
@@ -758,7 +758,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (button < 0 || button >= DriverStationJNI.kMaxJoystickButtons) {
if (button < 0 || button >= DriverStationJNI.MAX_JOYSTICK_BUTTONS) {
throw new IllegalArgumentException("Joystick Button is out of range");
}
@@ -795,7 +795,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (button < 0 || button >= DriverStationJNI.kMaxJoystickButtons) {
if (button < 0 || button >= DriverStationJNI.MAX_JOYSTICK_BUTTONS) {
throw new IllegalArgumentException("Joystick Button is out of range");
}
@@ -833,7 +833,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (axis < 0 || axis >= DriverStationJNI.kMaxJoystickAxes) {
if (axis < 0 || axis >= DriverStationJNI.MAX_JOYSTICK_AXES) {
throw new IllegalArgumentException("Joystick axis is out of range");
}
@@ -864,10 +864,10 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (touchpad < 0 || touchpad >= DriverStationJNI.kMaxJoystickTouchpads) {
if (touchpad < 0 || touchpad >= DriverStationJNI.MAX_JOYSTICK_TOUCHPADS) {
throw new IllegalArgumentException("Joystick touchpad is out of range");
}
if (finger < 0 || finger >= DriverStationJNI.kMaxJoystickTouchpadFingers) {
if (finger < 0 || finger >= DriverStationJNI.MAX_JOYSTICK_TOUCHPAD_FINGERS) {
throw new IllegalArgumentException("Joystick touchpad finger is out of range");
}
@@ -910,10 +910,10 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (touchpad < 0 || touchpad >= DriverStationJNI.kMaxJoystickTouchpads) {
if (touchpad < 0 || touchpad >= DriverStationJNI.MAX_JOYSTICK_TOUCHPADS) {
throw new IllegalArgumentException("Joystick touchpad is out of range");
}
if (finger < 0 || finger >= DriverStationJNI.kMaxJoystickTouchpadFingers) {
if (finger < 0 || finger >= DriverStationJNI.MAX_JOYSTICK_TOUCHPAD_FINGERS) {
throw new IllegalArgumentException("Joystick touchpad finger is out of range");
}
@@ -946,7 +946,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (axis < 0 || axis >= DriverStationJNI.kMaxJoystickAxes) {
if (axis < 0 || axis >= DriverStationJNI.MAX_JOYSTICK_AXES) {
throw new IllegalArgumentException("Joystick axis is out of range");
}
@@ -975,7 +975,7 @@ public final class DriverStation {
if (stick < 0 || stick >= kJoystickPorts) {
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (pov < 0 || pov >= DriverStationJNI.kMaxJoystickPOVs) {
if (pov < 0 || pov >= DriverStationJNI.MAX_JOYSTICK_POVS) {
throw new IllegalArgumentException("Joystick POV is out of range");
}
@@ -991,7 +991,7 @@ public final class DriverStation {
}
reportJoystickWarning(stick, "Joystick POV " + pov + " on port " + stick + " not available");
return POVDirection.Center;
return POVDirection.CENTER;
}
/**
@@ -1602,10 +1602,10 @@ public final class DriverStation {
m_cacheDataMutex.unlock();
}
return switch (matchType) {
case 1 -> MatchType.Practice;
case 2 -> MatchType.Qualification;
case 3 -> MatchType.Elimination;
default -> MatchType.None;
case 1 -> MatchType.PRACTICE;
case 2 -> MatchType.QUALIFICATION;
case 3 -> MatchType.ELIMINATION;
default -> MatchType.NONE;
};
}
@@ -1639,23 +1639,23 @@ public final class DriverStation {
private static Map<AllianceStationID, Optional<Alliance>> m_allianceMap =
Map.of(
AllianceStationID.Unknown, Optional.empty(),
AllianceStationID.Red1, Optional.of(Alliance.Red),
AllianceStationID.Red2, Optional.of(Alliance.Red),
AllianceStationID.Red3, Optional.of(Alliance.Red),
AllianceStationID.Blue1, Optional.of(Alliance.Blue),
AllianceStationID.Blue2, Optional.of(Alliance.Blue),
AllianceStationID.Blue3, Optional.of(Alliance.Blue));
AllianceStationID.UNKNOWN, Optional.empty(),
AllianceStationID.RED_1, Optional.of(Alliance.RED),
AllianceStationID.RED_2, Optional.of(Alliance.RED),
AllianceStationID.RED_3, Optional.of(Alliance.RED),
AllianceStationID.BLUE_1, Optional.of(Alliance.BLUE),
AllianceStationID.BLUE_2, Optional.of(Alliance.BLUE),
AllianceStationID.BLUE_3, Optional.of(Alliance.BLUE));
private static Map<AllianceStationID, OptionalInt> m_stationMap =
Map.of(
AllianceStationID.Unknown, OptionalInt.empty(),
AllianceStationID.Red1, OptionalInt.of(1),
AllianceStationID.Red2, OptionalInt.of(2),
AllianceStationID.Red3, OptionalInt.of(3),
AllianceStationID.Blue1, OptionalInt.of(1),
AllianceStationID.Blue2, OptionalInt.of(2),
AllianceStationID.Blue3, OptionalInt.of(3));
AllianceStationID.UNKNOWN, OptionalInt.empty(),
AllianceStationID.RED_1, OptionalInt.of(1),
AllianceStationID.RED_2, OptionalInt.of(2),
AllianceStationID.RED_3, OptionalInt.of(3),
AllianceStationID.BLUE_1, OptionalInt.of(1),
AllianceStationID.BLUE_2, OptionalInt.of(2),
AllianceStationID.BLUE_3, OptionalInt.of(3));
/**
* Get the current alliance from the FMS.
@@ -1667,7 +1667,7 @@ public final class DriverStation {
public static Optional<Alliance> getAlliance() {
AllianceStationID allianceStationID = DriverStationJNI.getAllianceStation();
if (allianceStationID == null) {
allianceStationID = AllianceStationID.Unknown;
allianceStationID = AllianceStationID.UNKNOWN;
}
return m_allianceMap.get(allianceStationID);
@@ -1683,7 +1683,7 @@ public final class DriverStation {
public static OptionalInt getLocation() {
AllianceStationID allianceStationID = DriverStationJNI.getAllianceStation();
if (allianceStationID == null) {
allianceStationID = AllianceStationID.Unknown;
allianceStationID = AllianceStationID.UNKNOWN;
}
return m_stationMap.get(allianceStationID);

18
wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
View File

@@ -228,7 +228,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the up direction a POV on the HID.
*/
public BooleanEvent povUp(EventLoop loop) {
return pov(POVDirection.Up, loop);
return pov(POVDirection.UP, loop);
}
/**
@@ -239,7 +239,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the up right direction of a POV on the HID.
*/
public BooleanEvent povUpRight(EventLoop loop) {
return pov(POVDirection.UpRight, loop);
return pov(POVDirection.UP_RIGHT, loop);
}
/**
@@ -250,7 +250,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the right direction of a POV on the HID.
*/
public BooleanEvent povRight(EventLoop loop) {
return pov(POVDirection.Right, loop);
return pov(POVDirection.RIGHT, loop);
}
/**
@@ -261,7 +261,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the down right direction of a POV on the HID.
*/
public BooleanEvent povDownRight(EventLoop loop) {
return pov(POVDirection.DownRight, loop);
return pov(POVDirection.DOWN_RIGHT, loop);
}
/**
@@ -272,7 +272,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the down direction of a POV on the HID.
*/
public BooleanEvent povDown(EventLoop loop) {
return pov(POVDirection.Down, loop);
return pov(POVDirection.DOWN, loop);
}
/**
@@ -283,7 +283,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the down left direction of a POV on the HID.
*/
public BooleanEvent povDownLeft(EventLoop loop) {
return pov(POVDirection.DownLeft, loop);
return pov(POVDirection.DOWN_LEFT, loop);
}
/**
@@ -294,7 +294,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the left direction of a POV on the HID.
*/
public BooleanEvent povLeft(EventLoop loop) {
return pov(POVDirection.Left, loop);
return pov(POVDirection.LEFT, loop);
}
/**
@@ -305,7 +305,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the up left direction of a POV on the HID.
*/
public BooleanEvent povUpLeft(EventLoop loop) {
return pov(POVDirection.UpLeft, loop);
return pov(POVDirection.UP_LEFT, loop);
}
/**
@@ -316,7 +316,7 @@ public class GenericHID {
* @return a BooleanEvent instance based around the center of a POV on the HID.
*/
public BooleanEvent povCenter(EventLoop loop) {
return pov(POVDirection.Center, loop);
return pov(POVDirection.CENTER, loop);
}
/**

38
wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
View File

@@ -195,14 +195,14 @@ public final class DriverStationSim {
*/
public static AllianceStationID getAllianceStationId() {
return switch (DriverStationDataJNI.getAllianceStationId()) {
case DriverStationJNI.kUnknownAllianceStation -> AllianceStationID.Unknown;
case DriverStationJNI.kRed1AllianceStation -> AllianceStationID.Red1;
case DriverStationJNI.kRed2AllianceStation -> AllianceStationID.Red2;
case DriverStationJNI.kRed3AllianceStation -> AllianceStationID.Red3;
case DriverStationJNI.kBlue1AllianceStation -> AllianceStationID.Blue1;
case DriverStationJNI.kBlue2AllianceStation -> AllianceStationID.Blue2;
case DriverStationJNI.kBlue3AllianceStation -> AllianceStationID.Blue3;
default -> AllianceStationID.Unknown;
case DriverStationJNI.ALLIANCE_STATION_UNKNOWN -> AllianceStationID.UNKNOWN;
case DriverStationJNI.ALLIANCE_STATION_RED_1 -> AllianceStationID.RED_1;
case DriverStationJNI.ALLIANCE_STATION_RED_2 -> AllianceStationID.RED_2;
case DriverStationJNI.ALLIANCE_STATION_RED_3 -> AllianceStationID.RED_3;
case DriverStationJNI.ALLIANCE_STATION_BLUE_1 -> AllianceStationID.BLUE_1;
case DriverStationJNI.ALLIANCE_STATION_BLUE_2 -> AllianceStationID.BLUE_2;
case DriverStationJNI.ALLIANCE_STATION_BLUE_3 -> AllianceStationID.BLUE_3;
default -> AllianceStationID.UNKNOWN;
};
}
@@ -214,13 +214,13 @@ public final class DriverStationSim {
public static void setAllianceStationId(AllianceStationID allianceStationId) {
int allianceStation =
switch (allianceStationId) {
case Unknown -> DriverStationJNI.kUnknownAllianceStation;
case Red1 -> DriverStationJNI.kRed1AllianceStation;
case Red2 -> DriverStationJNI.kRed2AllianceStation;
case Red3 -> DriverStationJNI.kRed3AllianceStation;
case Blue1 -> DriverStationJNI.kBlue1AllianceStation;
case Blue2 -> DriverStationJNI.kBlue2AllianceStation;
case Blue3 -> DriverStationJNI.kBlue3AllianceStation;
case UNKNOWN -> DriverStationJNI.ALLIANCE_STATION_UNKNOWN;
case RED_1 -> DriverStationJNI.ALLIANCE_STATION_RED_1;
case RED_2 -> DriverStationJNI.ALLIANCE_STATION_RED_2;
case RED_3 -> DriverStationJNI.ALLIANCE_STATION_RED_3;
case BLUE_1 -> DriverStationJNI.ALLIANCE_STATION_BLUE_1;
case BLUE_2 -> DriverStationJNI.ALLIANCE_STATION_BLUE_2;
case BLUE_3 -> DriverStationJNI.ALLIANCE_STATION_BLUE_3;
};
DriverStationDataJNI.setAllianceStationId(allianceStation);
}
@@ -526,10 +526,10 @@ public final class DriverStationSim {
public static void setMatchType(DriverStation.MatchType type) {
int matchType =
switch (type) {
case Practice -> 1;
case Qualification -> 2;
case Elimination -> 3;
case None -> 0;
case PRACTICE -> 1;
case QUALIFICATION -> 2;
case ELIMINATION -> 3;
case NONE -> 0;
};
DriverStationDataJNI.setMatchType(matchType);
}

8
wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
View File

@@ -417,13 +417,13 @@ public final class DataLogManager {
// match info comes through TCP, so we need to double-check we've
// actually received it
DriverStation.MatchType matchType = DriverStation.getMatchType();
if (matchType != DriverStation.MatchType.None) {
if (matchType != DriverStation.MatchType.NONE) {
// rename per match info
char matchTypeChar =
switch (matchType) {
case Practice -> 'P';
case Qualification -> 'Q';
case Elimination -> 'E';
case PRACTICE -> 'P';
case QUALIFICATION -> 'Q';
case ELIMINATION -> 'E';
default -> '_';
};
m_log.setFilename(