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

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

@@ -21,6 +21,8 @@ struct CANStatus {
   int transmitErrorCount;
 };
 
+enum RadioLEDState { kOff = 0, kGreen = 1, kRed = 2, kOrange = 3 };
+
 class RobotController {
  public:
   RobotController() = delete;
@@ -274,6 +276,23 @@ class RobotController {
    */
   static units::celsius_t GetCPUTemp();
 
+  /**
+   * Set the state of the "Radio" LED. On the RoboRIO, this writes to sysfs, so
+   * this function should not be called multiple times per loop cycle to avoid
+   * overruns.
+   * @param state The state to set the LED to.
+   */
+  static void SetRadioLEDState(RadioLEDState state);
+
+  /**
+   * Get the state of the "Radio" LED. On the RoboRIO, this reads from sysfs, so
+   * this function should not be called multiple times per loop cycle to avoid
+   * overruns.
+   *
+   * @return The state of the LED.
+   */
+  static RadioLEDState GetRadioLEDState();
+
   /**
    * Get the current status of the CAN bus.
    *

wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h

@@ -11,6 +11,7 @@
 #include <units/temperature.h>
 #include <units/voltage.h>
 
+#include "frc/RobotController.h"
 #include "frc/simulation/CallbackStore.h"
 
 namespace frc::sim {
@@ -514,6 +515,32 @@ class RoboRioSim {
    */
   static void SetComments(std::string_view comments);
 
+  /**
+   * Register a callback to be run whenever the Radio led state changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterRadioLEDStateCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the state of the radio led.
+   *
+   * @return The state of the radio led.
+   */
+  static RadioLEDState GetRadioLEDState();
+
+  /**
+   * Set the state of the radio led.
+   *
+   * @param state The state of the radio led.
+   */
+  static void SetRadioLEDState(RadioLEDState state);
+
   /**
    * Reset all simulation data.
    */