[wpilib] Add isTestEnabled and minor docs cleanup (#5172)

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

@@ -484,6 +484,12 @@ bool DriverStation::IsTest() {
   return controlWord.test;
 }
 
+bool DriverStation::IsTestEnabled() {
+  HAL_ControlWord controlWord;
+  HAL_GetControlWord(&controlWord);
+  return controlWord.test && controlWord.enabled;
+}
+
 bool DriverStation::IsDSAttached() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -210,6 +210,10 @@ bool RobotBase::IsTest() const {
   return DriverStation::IsTest();
 }
 
+bool RobotBase::IsTestEnabled() const {
+  return DriverStation::IsTestEnabled();
+}
+
 std::thread::id RobotBase::GetThreadId() {
   return m_threadId;
 }

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

@@ -209,6 +209,14 @@ class DriverStation final {
    */
   static bool IsTest();
 
+  /**
+   * Check if the DS is commanding Test mode and if it has enabled the robot.
+   *
+   * @return True if the robot is being commanded to be in Test mode and
+   * enabled.
+   */
+  static bool IsTestEnabled();
+
   /**
    * Check if the DS is attached.
    *

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

@@ -129,14 +129,14 @@ class RobotBase {
   /**
    * Determine if the Robot is currently enabled.
    *
-   * @return True if the Robot is currently enabled by the field controls.
+   * @return True if the Robot is currently enabled by the Driver Station.
    */
   bool IsEnabled() const;
 
   /**
    * Determine if the Robot is currently disabled.
    *
-   * @return True if the Robot is currently disabled by the field controls.
+   * @return True if the Robot is currently disabled by the Driver Station.
    */
   bool IsDisabled() const;
 
@@ -144,7 +144,7 @@ class RobotBase {
    * Determine if the robot is currently in Autonomous mode.
    *
    * @return True if the robot is currently operating Autonomously as determined
-   *         by the field controls.
+   *         by the Driver Station.
    */
   bool IsAutonomous() const;
 
@@ -152,7 +152,7 @@ class RobotBase {
    * Determine if the robot is currently in Autonomous mode and enabled.
    *
    * @return True if the robot us currently operating Autonomously while enabled
-   * as determined by the field controls.
+   * as determined by the Driver Station.
    */
   bool IsAutonomousEnabled() const;
 
@@ -160,7 +160,7 @@ class RobotBase {
    * Determine if the robot is currently in Operator Control mode.
    *
    * @return True if the robot is currently operating in Tele-Op mode as
-   *         determined by the field controls.
+   *         determined by the Driver Station.
    */
   bool IsTeleop() const;
 
@@ -168,18 +168,26 @@ class RobotBase {
    * Determine if the robot is current in Operator Control mode and enabled.
    *
    * @return True if the robot is currently operating in Tele-Op mode while
-   * wnabled as determined by the field-controls.
+   * enabled as determined by the Driver Station.
    */
   bool IsTeleopEnabled() const;
 
   /**
    * Determine if the robot is currently in Test mode.
    *
-   * @return True if the robot is currently running tests as determined by the
-   *         field controls.
+   * @return True if the robot is currently running in Test mode as determined
+   * by the Driver Station.
    */
   bool IsTest() const;
 
+  /**
+   * Determine if the robot is current in Test mode and enabled.
+   *
+   * @return True if the robot is currently operating in Test mode while
+   * enabled as determined by the Driver Station.
+   */
+  bool IsTestEnabled() const;
+
   /**
    * Gets the ID of the main robot thread.
    */

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

@@ -927,7 +927,7 @@ public final class DriverStation {
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
    * mode.
    *
    * @return True if test mode should be enabled, false otherwise.
@@ -941,6 +941,21 @@ public final class DriverStation {
     }
   }
 
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * mode and enabled.
+   *
+   * @return True if test mode should be set and the robot should be enabled.
+   */
+  public static boolean isTestEnabled() {
+    m_cacheDataMutex.lock();
+    try {
+      return m_controlWord.getTest() && m_controlWord.getEnabled();
+    } finally {
+      m_cacheDataMutex.unlock();
+    }
+  }
+
   /**
    * Gets a value indicating whether the Driver Station is attached.
    *

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

@@ -216,7 +216,7 @@ public abstract class RobotBase implements AutoCloseable {
   /**
    * Determine if the Robot is currently disabled.
    *
-   * @return True if the Robot is currently disabled by the field controls.
+   * @return True if the Robot is currently disabled by the Driver Station.
    */
   public boolean isDisabled() {
     return DriverStation.isDisabled();
@@ -225,14 +225,14 @@ public abstract class RobotBase implements AutoCloseable {
   /**
    * Determine if the Robot is currently enabled.
    *
-   * @return True if the Robot is currently enabled by the field controls.
+   * @return True if the Robot is currently enabled by the Driver Station.
    */
   public boolean isEnabled() {
     return DriverStation.isEnabled();
   }
 
   /**
-   * Determine if the robot is currently in Autonomous mode as determined by the field controls.
+   * Determine if the robot is currently in Autonomous mode as determined by the Driver Station.
    *
    * @return True if the robot is currently operating Autonomously.
    */
@@ -241,8 +241,8 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is current in Autonomous mode and enabled as determined by the field
-   * controls.
+   * Determine if the robot is currently in Autonomous mode and enabled as determined by the Driver
+   * Station.
    *
    * @return True if the robot is currently operating autonomously while enabled.
    */
@@ -251,7 +251,7 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is currently in Test mode as determined by the driver station.
+   * Determine if the robot is currently in Test mode as determined by the Driver Station.
    *
    * @return True if the robot is currently operating in Test mode.
    */
@@ -260,8 +260,17 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is currently in Operator Control mode as determined by the field
-   * controls.
+   * Determine if the robot is current in Test mode and enabled as determined by the Driver Station.
+   *
+   * @return True if the robot is currently operating in Test mode while enabled.
+   */
+  public boolean isTestEnabled() {
+    return DriverStation.isTestEnabled();
+  }
+
+  /**
+   * Determine if the robot is currently in Operator Control mode as determined by the Driver
+   * Station.
    *
    * @return True if the robot is currently operating in Tele-Op mode.
    */
@@ -270,8 +279,8 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Determine if the robot is current in Operator Control mode and enabled as determined by the
-   * field controls.
+   * Determine if the robot is currently in Operator Control mode and enabled as determined by the
+   * Driver Station.
    *
    * @return True if the robot is currently operating in Tele-Op mode while enabled.
    */