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

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This commit is contained in:
PJ Reiniger
2026-06-21 22:29:19 -04:00
committed by GitHub
parent af91ba39f2
commit 45d4ed5bca
8 changed files with 97 additions and 61 deletions
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37
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
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@@ -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) {