[wpilibc] Change DriverStationSim to use a C++ enum for alliance station (#8991)

hal/src/main/native/include/wpi/hal/DriverStationTypes.hpp

@@ -9,6 +9,26 @@
 
 namespace wpi::hal {
 
+/**
+ * The alliance station ID.
+ */
+enum class AllianceStationID {
+  /// Unknown.
+  UNKNOWN = HAL_ALLIANCE_STATION_UNKNOWN,
+  /// Red Alliance Station 1.
+  RED_1 = HAL_ALLIANCE_STATION_RED_1,
+  /// Red Alliance Station 2.
+  RED_2 = HAL_ALLIANCE_STATION_RED_2,
+  /// Red Alliance Station 3.
+  RED_3 = HAL_ALLIANCE_STATION_RED_3,
+  /// Blue Alliance Station 1.
+  BLUE_1 = HAL_ALLIANCE_STATION_BLUE_1,
+  /// Blue Alliance Station 2.
+  BLUE_2 = HAL_ALLIANCE_STATION_BLUE_2,
+  /// Blue Alliance Station 3.
+  BLUE_3 = HAL_ALLIANCE_STATION_BLUE_3,
+};
+
 /**
  * The overall robot mode (not including enabled state).
  */

hal/src/main/python/semiwrap/DriverStationTypes.yml

@@ -5,6 +5,7 @@ extra_includes:
 - src/ds_types_fmt.h
 
 enums:
+  AllianceStationID:
   RobotMode:
 classes:
   wpi::hal::ControlWord:

hal/src/main/python/semiwrap/DriverStationTypes_c.yml

@@ -6,6 +6,7 @@ extra_includes:
 
 enums:
   HAL_AllianceStationID:
+    rename: _AllianceStationID
     value_prefix: HAL_ALLIANCE_STATION
   HAL_JoystickPOV:
     value_prefix: HAL_JOYSTICK_POV

wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp

@@ -111,13 +111,15 @@ DriverStationSim::RegisterAllianceStationIdCallback(NotifyCallback callback,
   return store;
 }
 
-HAL_AllianceStationID DriverStationSim::GetAllianceStationId() {
-  return HALSIM_GetDriverStationAllianceStationId();
+wpi::hal::AllianceStationID DriverStationSim::GetAllianceStationId() {
+  return static_cast<wpi::hal::AllianceStationID>(
+      HALSIM_GetDriverStationAllianceStationId());
 }
 
 void DriverStationSim::SetAllianceStationId(
-    HAL_AllianceStationID allianceStationId) {
-  HALSIM_SetDriverStationAllianceStationId(allianceStationId);
+    wpi::hal::AllianceStationID allianceStationId) {
+  HALSIM_SetDriverStationAllianceStationId(
+      static_cast<HAL_AllianceStationID>(allianceStationId));
 }
 
 std::unique_ptr<CallbackStore> DriverStationSim::RegisterMatchTimeCallback(

wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp

@@ -195,14 +195,15 @@ class DriverStationSim {
    *
    * @return the alliance station color and number
    */
-  static HAL_AllianceStationID GetAllianceStationId();
+  static wpi::hal::AllianceStationID GetAllianceStationId();
 
   /**
    * Change the alliance station.
    *
    * @param allianceStationId the new alliance station
    */
-  static void SetAllianceStationId(HAL_AllianceStationID allianceStationId);
+  static void SetAllianceStationId(
+      wpi::hal::AllianceStationID allianceStationId);
 
   /**
    * Register a callback on match time.

wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

@@ -127,81 +127,88 @@ TEST(DriverStationTest, AllianceStationId) {
 
   EnumCallback callback;
 
-  HAL_AllianceStationID allianceStation = HAL_ALLIANCE_STATION_BLUE_2;
+  hal::AllianceStationID allianceStation = hal::AllianceStationID::BLUE_2;
   DriverStationSim::SetAllianceStationId(allianceStation);
 
   auto cb = DriverStationSim::RegisterAllianceStationIdCallback(
       callback.GetCallback(), false);
 
   // Unknown
-  allianceStation = HAL_ALLIANCE_STATION_UNKNOWN;
+  allianceStation = hal::AllianceStationID::UNKNOWN;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_FALSE(MatchState::GetAlliance().has_value());
   EXPECT_FALSE(MatchState::GetLocation().has_value());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // B1
-  allianceStation = HAL_ALLIANCE_STATION_BLUE_1;
+  allianceStation = hal::AllianceStationID::BLUE_1;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
   EXPECT_EQ(1, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // B2
-  allianceStation = HAL_ALLIANCE_STATION_BLUE_2;
+  allianceStation = hal::AllianceStationID::BLUE_2;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
   EXPECT_EQ(2, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // B3
-  allianceStation = HAL_ALLIANCE_STATION_BLUE_3;
+  allianceStation = hal::AllianceStationID::BLUE_3;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
   EXPECT_EQ(3, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // R1
-  allianceStation = HAL_ALLIANCE_STATION_RED_1;
+  allianceStation = hal::AllianceStationID::RED_1;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
   EXPECT_EQ(1, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // R2
-  allianceStation = HAL_ALLIANCE_STATION_RED_2;
+  allianceStation = hal::AllianceStationID::RED_2;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
   EXPECT_EQ(2, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 
   // R3
-  allianceStation = HAL_ALLIANCE_STATION_RED_3;
+  allianceStation = hal::AllianceStationID::RED_3;
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
   EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
   EXPECT_EQ(3, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(allianceStation, callback.GetLastValue());
+  EXPECT_EQ(static_cast<HAL_AllianceStationID>(allianceStation),
+            callback.GetLastValue());
 }
 
 TEST(DriverStationTest, ReplayNumber) {

wpilibcExamples/src/test/cpp/snippets/DigitalCommunication/cpp/DigitalCommunicationTest.cpp

@@ -43,7 +43,8 @@ class DigitalCommunicationTest : public testing::TestWithParam<T> {
   }
 };
 
-class AllianceTest : public DigitalCommunicationTest<HAL_AllianceStationID> {};
+class AllianceTest
+    : public DigitalCommunicationTest<wpi::hal::AllianceStationID> {};
 
 TEST_P(AllianceTest, Alliance) {
   auto alliance = GetParam();
@@ -57,15 +58,15 @@ TEST_P(AllianceTest, Alliance) {
 
   bool isRed = false;
   switch (alliance) {
-    case HAL_ALLIANCE_STATION_BLUE_1:
-    case HAL_ALLIANCE_STATION_BLUE_2:
-    case HAL_ALLIANCE_STATION_BLUE_3:
-    case HAL_ALLIANCE_STATION_UNKNOWN:
+    case wpi::hal::AllianceStationID::BLUE_1:
+    case wpi::hal::AllianceStationID::BLUE_2:
+    case wpi::hal::AllianceStationID::BLUE_3:
+    case wpi::hal::AllianceStationID::UNKNOWN:
       isRed = false;
       break;
-    case HAL_ALLIANCE_STATION_RED_1:
-    case HAL_ALLIANCE_STATION_RED_2:
-    case HAL_ALLIANCE_STATION_RED_3:
+    case wpi::hal::AllianceStationID::RED_1:
+    case wpi::hal::AllianceStationID::RED_2:
+    case wpi::hal::AllianceStationID::RED_3:
       isRed = true;
       break;
   }
@@ -74,26 +75,27 @@ TEST_P(AllianceTest, Alliance) {
 
 INSTANTIATE_TEST_SUITE_P(
     DigitalCommunicationTests, AllianceTest,
-    testing::Values<HAL_AllianceStationID>(
-        HAL_ALLIANCE_STATION_RED_1, HAL_ALLIANCE_STATION_RED_2,
-        HAL_ALLIANCE_STATION_RED_3, HAL_ALLIANCE_STATION_BLUE_1,
-        HAL_ALLIANCE_STATION_BLUE_2, HAL_ALLIANCE_STATION_BLUE_3,
-        HAL_ALLIANCE_STATION_UNKNOWN),
+    testing::Values<wpi::hal::AllianceStationID>(
+        wpi::hal::AllianceStationID::RED_1, wpi::hal::AllianceStationID::RED_2,
+        wpi::hal::AllianceStationID::RED_3, wpi::hal::AllianceStationID::BLUE_1,
+        wpi::hal::AllianceStationID::BLUE_2,
+        wpi::hal::AllianceStationID::BLUE_3,
+        wpi::hal::AllianceStationID::UNKNOWN),
     [](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
       switch (info.param) {
-        case HAL_ALLIANCE_STATION_BLUE_1:
+        case wpi::hal::AllianceStationID::BLUE_1:
           return std::string{"Blue1"};
-        case HAL_ALLIANCE_STATION_BLUE_2:
+        case wpi::hal::AllianceStationID::BLUE_2:
           return std::string{"Blue2"};
-        case HAL_ALLIANCE_STATION_BLUE_3:
+        case wpi::hal::AllianceStationID::BLUE_3:
           return std::string{"Blue3"};
-        case HAL_ALLIANCE_STATION_RED_1:
+        case wpi::hal::AllianceStationID::RED_1:
           return std::string{"Red1"};
-        case HAL_ALLIANCE_STATION_RED_2:
+        case wpi::hal::AllianceStationID::RED_2:
           return std::string{"Red2"};
-        case HAL_ALLIANCE_STATION_RED_3:
+        case wpi::hal::AllianceStationID::RED_3:
           return std::string{"Red3"};
-        case HAL_ALLIANCE_STATION_UNKNOWN:
+        case wpi::hal::AllianceStationID::UNKNOWN:
           return std::string{"Unknown"};
       }
       return std::string{"Error"};

wpilibcExamples/src/test/cpp/snippets/I2CCommunication/cpp/I2CCommunicationTest.cpp

@@ -52,7 +52,8 @@ class I2CCommunicationTest : public testing::TestWithParam<T> {
   }
 };
 
-class AllianceTest : public I2CCommunicationTest<HAL_AllianceStationID> {};
+class AllianceTest : public I2CCommunicationTest<wpi::hal::AllianceStationID> {
+};
 
 TEST_P(AllianceTest, Alliance) {
   auto alliance = GetParam();
@@ -65,17 +66,17 @@ TEST_P(AllianceTest, Alliance) {
 
   char expected = 'U';
   switch (alliance) {
-    case HAL_ALLIANCE_STATION_BLUE_1:
-    case HAL_ALLIANCE_STATION_BLUE_2:
-    case HAL_ALLIANCE_STATION_BLUE_3:
+    case wpi::hal::AllianceStationID::BLUE_1:
+    case wpi::hal::AllianceStationID::BLUE_2:
+    case wpi::hal::AllianceStationID::BLUE_3:
       expected = 'B';
       break;
-    case HAL_ALLIANCE_STATION_RED_1:
-    case HAL_ALLIANCE_STATION_RED_2:
-    case HAL_ALLIANCE_STATION_RED_3:
+    case wpi::hal::AllianceStationID::RED_1:
+    case wpi::hal::AllianceStationID::RED_2:
+    case wpi::hal::AllianceStationID::RED_3:
       expected = 'R';
       break;
-    case HAL_ALLIANCE_STATION_UNKNOWN:
+    case wpi::hal::AllianceStationID::UNKNOWN:
       expected = 'U';
       break;
   }
@@ -84,26 +85,27 @@ TEST_P(AllianceTest, Alliance) {
 
 INSTANTIATE_TEST_SUITE_P(
     I2CCommunicationTests, AllianceTest,
-    testing::Values<HAL_AllianceStationID>(
-        HAL_ALLIANCE_STATION_RED_1, HAL_ALLIANCE_STATION_RED_2,
-        HAL_ALLIANCE_STATION_RED_3, HAL_ALLIANCE_STATION_BLUE_1,
-        HAL_ALLIANCE_STATION_BLUE_2, HAL_ALLIANCE_STATION_BLUE_3,
-        HAL_ALLIANCE_STATION_UNKNOWN),
+    testing::Values<wpi::hal::AllianceStationID>(
+        wpi::hal::AllianceStationID::RED_1, wpi::hal::AllianceStationID::RED_2,
+        wpi::hal::AllianceStationID::RED_3, wpi::hal::AllianceStationID::BLUE_1,
+        wpi::hal::AllianceStationID::BLUE_2,
+        wpi::hal::AllianceStationID::BLUE_3,
+        wpi::hal::AllianceStationID::UNKNOWN),
     [](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
       switch (info.param) {
-        case HAL_ALLIANCE_STATION_BLUE_1:
+        case wpi::hal::AllianceStationID::BLUE_1:
           return std::string{"Blue1"};
-        case HAL_ALLIANCE_STATION_BLUE_2:
+        case wpi::hal::AllianceStationID::BLUE_2:
           return std::string{"Blue2"};
-        case HAL_ALLIANCE_STATION_BLUE_3:
+        case wpi::hal::AllianceStationID::BLUE_3:
           return std::string{"Blue3"};
-        case HAL_ALLIANCE_STATION_RED_1:
+        case wpi::hal::AllianceStationID::RED_1:
           return std::string{"Red1"};
-        case HAL_ALLIANCE_STATION_RED_2:
+        case wpi::hal::AllianceStationID::RED_2:
           return std::string{"Red2"};
-        case HAL_ALLIANCE_STATION_RED_3:
+        case wpi::hal::AllianceStationID::RED_3:
           return std::string{"Red3"};
-        case HAL_ALLIANCE_STATION_UNKNOWN:
+        case wpi::hal::AllianceStationID::UNKNOWN:
           return std::string{"Unknown"};
       }
       return std::string{"Error"};