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[wpilib] Report LiveWindow-enabled-in-test (#6158)

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This commit is contained in:
Starlight220
2024-01-05 21:57:14 +02:00
committed by GitHub
parent 707cb06105
commit 4595f84719
5 changed files with 19 additions and 0 deletions
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1
hal/src/generate/Instances.txt
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@@ -45,6 +45,7 @@ kADXL345_I2C = 2
kCommand_Scheduler = 1
kCommand2_Scheduler = 2
kSmartDashboard_Instance = 1
kSmartDashboard_LiveWindow = 2
kKinematics_DifferentialDrive = 1
kKinematics_MecanumDrive = 2
kKinematics_SwerveDrive = 3

2
hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java generated
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@@ -354,6 +354,8 @@ public final class FRCNetComm {
public static final int kCommand2_Scheduler = 2;
/** kSmartDashboard_Instance = 1. */
public static final int kSmartDashboard_Instance = 1;
/** kSmartDashboard_LiveWindow = 2. */
public static final int kSmartDashboard_LiveWindow = 2;
/** kKinematics_DifferentialDrive = 1. */
public static final int kKinematics_DifferentialDrive = 1;
/** kKinematics_MecanumDrive = 2. */

1
hal/src/generated/main/native/include/hal/FRCUsageReporting.h generated
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@@ -216,6 +216,7 @@ namespace HALUsageReporting {
kCommand_Scheduler = 1,
kCommand2_Scheduler = 2,
kSmartDashboard_Instance = 1,
kSmartDashboard_LiveWindow = 2,
kKinematics_DifferentialDrive = 1,
kKinematics_MecanumDrive = 2,
kKinematics_SwerveDrive = 3,

7
wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
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@@ -8,6 +8,7 @@
#include <fmt/format.h>
#include <hal/DriverStation.h>
#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTableInstance.h>
#include "frc/DSControlWord.h"
@@ -97,10 +98,16 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
}
void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
static bool hasReported;
if (IsTestEnabled()) {
throw FRC_MakeError(err::IncompatibleMode,
"Can't configure test mode while in test mode!");
}
if (!hasReported && testLW) {
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
HALUsageReporting::kSmartDashboard_LiveWindow);
hasReported = true;
}
m_lwEnabledInTest = testLW;
}

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
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@@ -5,6 +5,8 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
@@ -257,6 +259,8 @@ public abstract class IterativeRobotBase extends RobotBase {
m_ntFlushEnabled = enabled;
}
private boolean m_reportedLw;
/**
* Sets whether LiveWindow operation is enabled during test mode. Calling
*
@@ -267,6 +271,10 @@ public abstract class IterativeRobotBase extends RobotBase {
if (isTestEnabled()) {
throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
}
if (!m_reportedLw && testLW) {
HAL.report(tResourceType.kResourceType_SmartDashboard, tInstances.kSmartDashboard_LiveWindow);
m_reportedLw = true;
}
m_lwEnabledInTest = testLW;
}