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

Warnings cannot be silenced when connected to FMS.

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)
+    );
+  }
 }