[wpilib] Use IsSimulation() consistently (#3534)

wpilibc/src/main/native/cpp/Filesystem.cpp

@@ -13,7 +13,7 @@ std::string frc::filesystem::GetLaunchDirectory() {
 }
 
 std::string frc::filesystem::GetOperatingDirectory() {
-  if constexpr (RobotBase::IsReal()) {
+  if constexpr (!RobotBase::IsSimulation()) {
     return "/home/lvuser";
   } else {
     return frc::filesystem::GetLaunchDirectory();
@@ -21,7 +21,7 @@ std::string frc::filesystem::GetOperatingDirectory() {
 }
 
 std::string frc::filesystem::GetDeployDirectory() {
-  if constexpr (RobotBase::IsReal()) {
+  if constexpr (!RobotBase::IsSimulation()) {
     return "/home/lvuser/deploy";
   } else {
     return (fs::current_path() / "src" / "main" / "deploy").string();

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -231,11 +231,11 @@ RobotBase::RobotBase() {
   auto inst = nt::NetworkTableInstance::GetDefault();
   // subscribe to "" to force persistent values to propagate to local
   nt::SubscribeMultiple(inst.GetHandle(), {{std::string_view{}}});
-#ifdef __FRC_ROBORIO__
-  inst.StartServer("/home/lvuser/networktables.json");
-#else
-  inst.StartServer();
-#endif
+  if constexpr (!IsSimulation()) {
+    inst.StartServer("/home/lvuser/networktables.json");
+  } else {
+    inst.StartServer();
+  }
 
   // wait for the NT server to actually start
   int count = 0;
@@ -251,7 +251,7 @@ RobotBase::RobotBase() {
 
   SmartDashboard::init();
 
-  if (IsReal()) {
+  if constexpr (!IsSimulation()) {
     std::FILE* file = nullptr;
     file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 

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

@@ -227,7 +227,13 @@ class RobotBase {
    *
    * @return If the robot is running in simulation.
    */
-  static constexpr bool IsSimulation() { return !IsReal(); }
+  static constexpr bool IsSimulation() {
+#ifdef __FRC_ROBORIO__
+    return false;
+#else
+    return true;
+#endif
+  }
 
   /**
    * Constructor for a generic robot program.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java

@@ -39,7 +39,7 @@ public final class Filesystem {
    * @return The operating directory
    */
   public static File getOperatingDirectory() {
-    if (RobotBase.isReal()) {
+    if (!RobotBase.isSimulation()) {
       return new File("/home/lvuser");
     } else {
       return getLaunchDirectory();
@@ -54,7 +54,7 @@ public final class Filesystem {
    * @return The 'deploy' directory
    */
   public static File getDeployDirectory() {
-    if (RobotBase.isReal()) {
+    if (!RobotBase.isSimulation()) {
       return new File(getOperatingDirectory(), "deploy");
     } else {
       return new File(

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -74,7 +74,7 @@ public abstract class RobotBase implements AutoCloseable {
 
           @Override
           public boolean isRoboRIO() {
-            return RobotBase.isReal();
+            return !RobotBase.isSimulation();
           }
         };
 
@@ -154,7 +154,7 @@ public abstract class RobotBase implements AutoCloseable {
     setupMathShared();
     // subscribe to "" to force persistent values to propagate to local
     m_suball = new MultiSubscriber(inst, new String[] {""});
-    if (isReal()) {
+    if (!isSimulation()) {
       inst.startServer("/home/lvuser/networktables.json");
     } else {
       inst.startServer();
@@ -202,7 +202,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return If the robot is running in simulation.
    */
   public static boolean isSimulation() {
-    return !isReal();
+    return HALUtil.getHALRuntimeType() != 0;
   }
 
   /**
@@ -337,7 +337,7 @@ public abstract class RobotBase implements AutoCloseable {
     m_robotCopy = robot;
     m_runMutex.unlock();
 
-    if (isReal()) {
+    if (!isSimulation()) {
       final File file = new File("/tmp/frc_versions/FRC_Lib_Version.ini");
       try {
         if (file.exists() && !file.delete()) {