[hal, wpilib] Add RobotController.getComments() (#4463)

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -33,6 +33,7 @@ void RoboRioData::ResetData() {
   userFaults3V3.Reset(0);
   brownoutVoltage.Reset(6.75);
   m_serialNumber = "";
+  m_comments = "";
 }
 
 int32_t RoboRioData::RegisterSerialNumberCallback(
@@ -72,6 +73,40 @@ void RoboRioData::SetSerialNumber(const char* serialNumber, size_t size) {
   m_serialNumberCallbacks(m_serialNumber.c_str(), m_serialNumber.size());
 }
 
+int32_t RoboRioData::RegisterCommentsCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
+  std::scoped_lock lock(m_commentsMutex);
+  int32_t uid = m_commentsCallbacks.Register(callback, param);
+  if (initialNotify) {
+    callback(GetCommentsName(), param, m_comments.c_str(),
+             m_serialNumber.size());
+  }
+  return uid;
+}
+
+void RoboRioData::CancelCommentsCallback(int32_t uid) {
+  m_commentsCallbacks.Cancel(uid);
+}
+
+size_t RoboRioData::GetComments(char* buffer, size_t size) {
+  std::scoped_lock lock(m_commentsMutex);
+  size_t copied = m_comments.copy(buffer, size);
+  // Null terminate if there is room
+  if (copied < size) {
+    buffer[copied] = '\0';
+  }
+  return copied;
+}
+
+void RoboRioData::SetComments(const char* comments, size_t size) {
+  if (size > 64) {
+    size = 64;
+  }
+  std::scoped_lock lock(m_commentsMutex);
+  m_comments = std::string(comments, size);
+  m_commentsCallbacks(m_comments.c_str(), m_comments.size());
+}
+
 extern "C" {
 void HALSIM_ResetRoboRioData(void) {
   SimRoboRioData->ResetData();
@@ -113,6 +148,21 @@ void HALSIM_SetRoboRioSerialNumber(const char* serialNumber, size_t size) {
   SimRoboRioData->SetSerialNumber(serialNumber, size);
 }
 
+int32_t HALSIM_RegisterRoboRioCommentsCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
+  return SimRoboRioData->RegisterCommentsCallback(callback, param,
+                                                  initialNotify);
+}
+void HALSIM_CancelRoboRioCommentsCallback(int32_t uid) {
+  SimRoboRioData->CancelCommentsCallback(uid);
+}
+size_t HALSIM_GetRoboRioComments(char* buffer, size_t size) {
+  return SimRoboRioData->GetComments(buffer, size);
+}
+void HALSIM_SetRoboRioComments(const char* comments, size_t size) {
+  SimRoboRioData->SetComments(comments, size);
+}
+
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify);
 

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -32,6 +32,7 @@ class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
 
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
+  HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Comments);
 
  public:
   SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFPGAButtonName> fpgaButton{false};
@@ -63,14 +64,26 @@ class RoboRioData {
   size_t GetSerialNumber(char* buffer, size_t size);
   void SetSerialNumber(const char* serialNumber, size_t size);
 
+  int32_t RegisterCommentsCallback(HAL_RoboRioStringCallback callback,
+                                   void* param, HAL_Bool initialNotify);
+  void CancelCommentsCallback(int32_t uid);
+  size_t GetComments(char* buffer, size_t size);
+  void SetComments(const char* comments, size_t size);
+
   virtual void ResetData();
 
  private:
   wpi::spinlock m_serialNumberMutex;
   std::string m_serialNumber;
 
+  wpi::spinlock m_commentsMutex;
+  std::string m_comments;
+
   SimCallbackRegistry<HAL_RoboRioStringCallback, GetSerialNumberName>
       m_serialNumberCallbacks;
+
+  SimCallbackRegistry<HAL_RoboRioStringCallback, GetCommentsName>
+      m_commentsCallbacks;
 };
 extern RoboRioData* SimRoboRioData;
 }  // namespace hal