[wpilib] Add way to silence joystick connection warnings (#2845)

Warnings cannot be silenced when connected to FMS.

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -543,6 +543,14 @@ void DriverStation::GetData() {
   SendMatchData();
 }
 
+void DriverStation::SilenceJoystickConnectionWarning(bool silence) {
+  m_silenceJoystickWarning = silence;
+}
+
+bool DriverStation::IsJoystickConnectionWarningSilenced() const {
+  return !IsFMSAttached() && m_silenceJoystickWarning;
+}
+
 DriverStation::DriverStation() {
   HAL_Initialize(500, 0);
   m_waitForDataCounter = 0;
@@ -570,10 +578,12 @@ void DriverStation::ReportJoystickUnpluggedError(const wpi::Twine& message) {
 }
 
 void DriverStation::ReportJoystickUnpluggedWarning(const wpi::Twine& message) {
-  double currentTime = Timer::GetFPGATimestamp();
-  if (currentTime > m_nextMessageTime) {
-    ReportWarning(message);
-    m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
+  if (IsFMSAttached() || !m_silenceJoystickWarning) {
+    double currentTime = Timer::GetFPGATimestamp();
+    if (currentTime > m_nextMessageTime) {
+      ReportWarning(message);
+      m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
+    }
   }
 }
 

wpilibc/src/main/native/include/frc/DriverStation.h

@@ -431,6 +431,23 @@ class DriverStation : public ErrorBase {
    */
   void WakeupWaitForData();
 
+  /**
+   * Allows the user to specify whether they want joystick connection warnings
+   * to be printed to the console. This setting is ignored when the FMS is
+   * connected -- warnings will always be on in that scenario.
+   *
+   * @param silence Whether warning messages should be silenced.
+   */
+  void SilenceJoystickConnectionWarning(bool silence);
+
+  /**
+   * Returns whether joystick connection warnings are silenced. This will
+   * always return false when connected to the FMS.
+   *
+   * @return Whether joystick connection warnings are silenced.
+   */
+  bool IsJoystickConnectionWarningSilenced() const;
+
  protected:
   /**
    * Copy data from the DS task for the user.
@@ -482,6 +499,8 @@ class DriverStation : public ErrorBase {
   wpi::condition_variable m_waitForDataCond;
   int m_waitForDataCounter;
 
+  bool m_silenceJoystickWarning = false;
+
   // Robot state status variables
   bool m_userInDisabled = false;
   bool m_userInAutonomous = false;

wpilibc/src/test/native/cpp/DriverStationTest.cpp

@@ -5,10 +5,13 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <string>
 #include <tuple>
 
 #include "frc/DriverStation.h"
+#include "frc/Joystick.h"
 #include "frc/simulation/DriverStationSim.h"
+#include "frc/simulation/SimHooks.h"
 #include "gtest/gtest.h"
 
 class IsJoystickConnectedParametersTests
@@ -32,3 +35,40 @@ INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTests,
                                            std::make_tuple(0, 0, 1, true),
                                            std::make_tuple(1, 1, 1, true),
                                            std::make_tuple(4, 10, 1, true)));
+class JoystickConnectionWarningTests
+    : public ::testing::TestWithParam<
+          std::tuple<bool, bool, bool, std::string>> {};
+
+TEST_P(JoystickConnectionWarningTests, JoystickConnectionWarnings) {
+  // Capture all output to stderr.
+  ::testing::internal::CaptureStderr();
+
+  // Set FMS and Silence settings
+  frc::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
+  frc::sim::DriverStationSim::NotifyNewData();
+  frc::DriverStation::GetInstance().SilenceJoystickConnectionWarning(
+      std::get<1>(GetParam()));
+
+  // Create joystick and attempt to retrieve button.
+  frc::Joystick joystick(0);
+  joystick.GetRawButton(1);
+
+  frc::sim::StepTiming(1_s);
+  EXPECT_EQ(
+      frc::DriverStation::GetInstance().IsJoystickConnectionWarningSilenced(),
+      std::get<2>(GetParam()));
+  EXPECT_EQ(::testing::internal::GetCapturedStderr(), std::get<3>(GetParam()));
+}
+
+INSTANTIATE_TEST_SUITE_P(
+    DriverStation, JoystickConnectionWarningTests,
+    ::testing::Values(std::make_tuple(false, true, true, ""),
+                      std::make_tuple(false, false, false,
+                                      "Joystick Button missing, check if all "
+                                      "controllers are plugged in\n"),
+                      std::make_tuple(true, true, false,
+                                      "Joystick Button missing, check if all "
+                                      "controllers are plugged in\n"),
+                      std::make_tuple(true, false, false,
+                                      "Joystick Button missing, check if all "
+                                      "controllers are plugged in\n")));

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -165,6 +165,8 @@ public class DriverStation {
   private int m_waitForDataCount;
   private final ThreadLocal<Integer> m_lastCount = ThreadLocal.withInitial(() -> 0);
 
+  private boolean m_silenceJoystickWarning;
+
   // Robot state status variables
   private boolean m_userInDisabled;
   private boolean m_userInAutonomous;
@@ -1067,6 +1069,27 @@ public class DriverStation {
     m_waitForDataMutex.unlock();
   }
 
+  /**
+   * Allows the user to specify whether they want joystick connection warnings
+   * to be printed to the console. This setting is ignored when the FMS is
+   * connected -- warnings will always be on in that scenario.
+   *
+   * @param silence Whether warning messages should be silenced.
+   */
+  public void silenceJoystickConnectionWarning(boolean silence) {
+    m_silenceJoystickWarning = silence;
+  }
+
+  /**
+   * Returns whether joystick connection warnings are silenced. This will
+   * always return false when connected to the FMS.
+   *
+   * @return Whether joystick connection warnings are silenced.
+   */
+  public boolean isJoystickConnectionWarningSilenced() {
+    return !isFMSAttached() && m_silenceJoystickWarning;
+  }
+
   /**
    * Copy data from the DS task for the user. If no new data exists, it will just be returned,
    * otherwise the data will be copied from the DS polling loop.
@@ -1141,10 +1164,12 @@ public class DriverStation {
    * the DS.
    */
   private void reportJoystickUnpluggedWarning(String message) {
-    double currentTime = Timer.getFPGATimestamp();
-    if (currentTime > m_nextMessageTime) {
-      reportWarning(message, false);
-      m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+    if (isFMSAttached() || !m_silenceJoystickWarning) {
+      double currentTime = Timer.getFPGATimestamp();
+      if (currentTime > m_nextMessageTime) {
+        reportWarning(message, false);
+        m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+      }
     }
   }
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/DriverStationTest.java

@@ -41,4 +41,23 @@ class DriverStationTest {
       arguments(4, 10, 1, true)
     );
   }
+
+  @MethodSource("connectionWarningProvider")
+  void testConnectionWarnings(boolean fms, boolean silence, boolean expected) {
+    DriverStationSim.setFmsAttached(fms);
+    DriverStationSim.notifyNewData();
+
+    DriverStation.getInstance().silenceJoystickConnectionWarning(silence);
+    assertEquals(expected,
+        DriverStation.getInstance().isJoystickConnectionWarningSilenced());
+  }
+
+  static Stream<Arguments> connectionWarningProvider() {
+    return Stream.of(
+      arguments(false, true, true),
+      arguments(false, false, false),
+      arguments(true, true, false),
+      arguments(true, false, false)
+    );
+  }
 }