[hal,wpilib] Add function to control "Radio" LED (#6073)

hal/src/main/native/cpp/jni/LEDJNI.cpp

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <fmt/core.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_LEDJNI.h"
+#include "hal/LEDs.h"
+
+static_assert(edu_wpi_first_hal_LEDJNI_RADIO_LED_STATE_OFF ==
+              HAL_RadioLEDState::HAL_RadioLED_kOff);
+static_assert(edu_wpi_first_hal_LEDJNI_RADIO_LED_STATE_GREEN ==
+              HAL_RadioLEDState::HAL_RadioLED_kGreen);
+static_assert(edu_wpi_first_hal_LEDJNI_RADIO_LED_STATE_RED ==
+              HAL_RadioLEDState::HAL_RadioLED_kRed);
+static_assert(edu_wpi_first_hal_LEDJNI_RADIO_LED_STATE_ORANGE ==
+              HAL_RadioLEDState::HAL_RadioLED_kOrange);
+
+using namespace hal;
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_LEDJNI
+ * Method:    setRadioLEDState
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_LEDJNI_setRadioLEDState
+  (JNIEnv* env, jclass, jint state)
+{
+  int32_t status = 0;
+  HAL_SetRadioLEDState(static_cast<HAL_RadioLEDState>(state), &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_LEDJNI
+ * Method:    getRadioLEDState
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_LEDJNI_getRadioLEDState
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetRadioLEDState(&status);
+  CheckStatus(env, status);
+  return retVal;
+}
+}  // extern "C"

hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp

@@ -983,6 +983,57 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setComments
   HALSIM_SetRoboRioComments(commentsJString.c_str(), commentsJString.size());
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    registerRadioLEDStateCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerRadioLEDStateCallback
+  (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterRoboRioRadioLEDStateCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    cancelRadioLEDStateCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelRadioLEDStateCallback
+  (JNIEnv* env, jclass, jint handle)
+{
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelRoboRioRadioLEDStateCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getRadioLEDState
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getRadioLEDState
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetRoboRioRadioLEDState();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setRadioLEDState
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setRadioLEDState
+  (JNIEnv*, jclass, jint value)
+{
+  HALSIM_SetRoboRioRadioLEDState(static_cast<HAL_RadioLEDState>(value));
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    resetData