[hal] Add RobotController.getSerialNumber() (#4783)

hal/src/main/java/edu/wpi/first/hal/HALUtil.java

@@ -22,6 +22,8 @@ public final class HALUtil extends JNIWrapper {
 
   public static native int getFPGARevision();
 
+  public static native String getSerialNumber();
+
   public static native long getFPGATime();
 
   public static native int getHALRuntimeType();

hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java

@@ -151,5 +151,9 @@ public class RoboRioDataJNI extends JNIWrapper {
 
   public static native void setBrownoutVoltage(double brownoutVoltage);
 
+  public static native String getSerialNumber();
+
+  public static native void setSerialNumber(String serialNumber);
+
   public static native void resetData();
 }

hal/src/main/native/athena/HAL.cpp

@@ -18,6 +18,9 @@
 #include <FRC_NetworkCommunication/LoadOut.h>
 #include <FRC_NetworkCommunication/UsageReporting.h>
 #include <fmt/format.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/StringExtras.h>
+#include <wpi/fs.h>
 #include <wpi/mutex.h>
 #include <wpi/timestamp.h>
 
@@ -270,6 +273,20 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
   return global->readRevision(status);
 }
 
+size_t HAL_GetSerialNumber(char* buffer, size_t size) {
+  const char* serialNum = std::getenv("serialnum");
+  if (serialNum) {
+    std::strncpy(buffer, serialNum, size);
+    buffer[size - 1] = '\0';
+    return std::strlen(buffer);
+  } else {
+    if (size > 0) {
+      buffer[0] = '\0';
+    }
+    return 0;
+  }
+}
+
 uint64_t HAL_GetFPGATime(int32_t* status) {
   hal::init::CheckInit();
   if (!global) {

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -29,6 +29,19 @@ DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
 DEFINE_CAPI(double, BrownoutVoltage, 6.75)
 
+int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
+  return 0;
+}
+void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid) {}
+size_t HALSIM_GetRoboRioSerialNumber(char* buffer, size_t size) {
+  if (size > 0) {
+    buffer[0] = '\0';
+  }
+  return 0;
+}
+void HALSIM_SetRoboRioSerialNumber(const char* buffer, size_t size) {}
+
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify) {}
 }  // extern "C"

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -456,6 +456,20 @@ Java_edu_wpi_first_hal_HALUtil_getFPGARevision
   return returnValue;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HALUtil
+ * Method:    getSerialNumber
+ * Signature: ()Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_hal_HALUtil_getSerialNumber
+  (JNIEnv* env, jclass)
+{
+  char serialNum[9];
+  size_t len = HAL_GetSerialNumber(serialNum, sizeof(serialNum));
+  return MakeJString(env, std::string_view(serialNum, len));
+}
+
 /*
  * Class:     edu_wpi_first_hal_HALUtil
  * Method:    getFPGATime

hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp

@@ -4,11 +4,14 @@
 
 #include <jni.h>
 
+#include <wpi/jni_util.h>
+
 #include "CallbackStore.h"
 #include "edu_wpi_first_hal_simulation_RoboRioDataJNI.h"
 #include "hal/simulation/RoboRioData.h"
 
 using namespace hal;
+using namespace wpi::java;
 
 extern "C" {
 
@@ -825,6 +828,34 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setBrownoutVoltage
   HALSIM_SetRoboRioBrownoutVoltage(value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getSerialNumber
+ * Signature: ()Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getSerialNumber
+  (JNIEnv* env, jclass)
+{
+  char serialNum[9];
+  size_t len = HALSIM_GetRoboRioSerialNumber(serialNum, sizeof(serialNum));
+  return MakeJString(env, std::string_view(serialNum, len));
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setSerialNumber
+ * Signature: (Ljava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setSerialNumber
+  (JNIEnv* env, jclass, jstring serialNumber)
+{
+  JStringRef serialNumberJString{env, serialNumber};
+  HALSIM_SetRoboRioSerialNumber(serialNumberJString.c_str(),
+                                serialNumberJString.size());
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    resetData

hal/src/main/native/include/hal/HALBase.h

@@ -6,6 +6,14 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
+#include <cstddef>
+#else
+
+#include <stddef.h>  // NOLINT(build/include_order)
+
+#endif
+
 #include "hal/Types.h"
 
 /**
@@ -66,6 +74,13 @@ int32_t HAL_GetFPGAVersion(int32_t* status);
  */
 int64_t HAL_GetFPGARevision(int32_t* status);
 
+/**
+ * Returns the serial number.
+ *
+ * @return Serial number.
+ */
+size_t HAL_GetSerialNumber(char* buffer, size_t size);
+
 /**
  * Returns the runtime type of the HAL.
  *

hal/src/main/native/include/hal/simulation/RoboRioData.h

@@ -4,9 +4,14 @@
 
 #pragma once
 
+#include <cstddef>
+
 #include "hal/Types.h"
 #include "hal/simulation/NotifyListener.h"
 
+typedef void (*HAL_RoboRioStringCallback)(const char* name, void* param,
+                                          const char* str, size_t size);
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -121,6 +126,12 @@ void HALSIM_CancelRoboRioBrownoutVoltageCallback(int32_t uid);
 double HALSIM_GetRoboRioBrownoutVoltage(void);
 void HALSIM_SetRoboRioBrownoutVoltage(double brownoutVoltage);
 
+int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid);
+size_t HALSIM_GetRoboRioSerialNumber(char* buffer, size_t size);
+void HALSIM_SetRoboRioSerialNumber(const char* serialNumber, size_t size);
+
 void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
                                         void* param, HAL_Bool initialNotify);
 

hal/src/main/native/sim/HAL.cpp

@@ -280,6 +280,10 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
   return 0;  // TODO: Find a better number to return;
 }
 
+size_t HAL_GetSerialNumber(char* buffer, size_t size) {
+  return HALSIM_GetRoboRioSerialNumber(buffer, size);
+}
+
 uint64_t HAL_GetFPGATime(int32_t* status) {
   return hal::GetFPGATime();
 }

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -32,6 +32,44 @@ void RoboRioData::ResetData() {
   userFaults5V.Reset(0);
   userFaults3V3.Reset(0);
   brownoutVoltage.Reset(6.75);
+  m_serialNumber = "";
+}
+
+int32_t RoboRioData::RegisterSerialNumberCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
+  std::scoped_lock lock(m_serialNumberMutex);
+  int32_t uid = m_serialNumberCallbacks.Register(callback, param);
+  if (initialNotify) {
+    callback(GetSerialNumberName(), param, m_serialNumber.c_str(),
+             m_serialNumber.size());
+  }
+  return uid;
+}
+
+void RoboRioData::CancelSerialNumberCallback(int32_t uid) {
+  m_serialNumberCallbacks.Cancel(uid);
+}
+
+size_t RoboRioData::GetSerialNumber(char* buffer, size_t size) {
+  std::scoped_lock lock(m_serialNumberMutex);
+  size_t copied = m_serialNumber.copy(buffer, size);
+  // Null terminate
+  if (copied == size) {
+    copied -= 1;
+  }
+  buffer[copied] = '\0';
+  return copied;
+}
+
+void RoboRioData::SetSerialNumber(const char* serialNumber, size_t size) {
+  // Limit serial number to 8 characters internally- serialnum environment
+  // variable is always 8 characters
+  if (size > 8) {
+    size = 8;
+  }
+  std::scoped_lock lock(m_serialNumberMutex);
+  m_serialNumber = std::string(serialNumber, size);
+  m_serialNumberCallbacks(m_serialNumber.c_str(), m_serialNumber.size());
 }
 
 extern "C" {
@@ -60,6 +98,24 @@ DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
 DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
 DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
 
+int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
+    HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
+  return SimRoboRioData->RegisterSerialNumberCallback(callback, param,
+                                                      initialNotify);
+}
+void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid) {
+  return SimRoboRioData->CancelSerialNumberCallback(uid);
+}
+size_t HALSIM_GetRoboRioSerialNumber(char* buffer, size_t size) {
+  return SimRoboRioData->GetSerialNumber(buffer, size);
+}
+void HALSIM_SetRoboRioSerialNumber(const char* serialNumber, size_t size) {
+  SimRoboRioData->SetSerialNumber(serialNumber, size);
+}
+
+void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
+                                        void* param, HAL_Bool initialNotify);
+
 #define REGISTER(NAME) \
   SimRoboRioData->NAME.RegisterCallback(callback, param, initialNotify)
 

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -4,6 +4,11 @@
 
 #pragma once
 
+#include <cstddef>
+#include <string>
+
+#include <wpi/spinlock.h>
+
 #include "hal/simulation/RoboRioData.h"
 #include "hal/simulation/SimDataValue.h"
 
@@ -26,6 +31,8 @@ class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
   HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
 
+  HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
+
  public:
   SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFPGAButtonName> fpgaButton{false};
   SimDataValue<double, HAL_MakeDouble, GetVInVoltageName> vInVoltage{12.0};
@@ -50,7 +57,20 @@ class RoboRioData {
   SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
       6.75};
 
+  int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
+                                       void* param, HAL_Bool initialNotify);
+  void CancelSerialNumberCallback(int32_t uid);
+  size_t GetSerialNumber(char* buffer, size_t size);
+  void SetSerialNumber(const char* serialNumber, size_t size);
+
   virtual void ResetData();
+
+ private:
+  wpi::spinlock m_serialNumberMutex;
+  std::string m_serialNumber;
+
+  SimCallbackRegistry<HAL_RoboRioStringCallback, GetSerialNumberName>
+      m_serialNumberCallbacks;
 };
 extern RoboRioData* SimRoboRioData;
 }  // namespace hal

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -4,6 +4,8 @@
 
 #include "frc/RobotController.h"
 
+#include <cstddef>
+
 #include <hal/CAN.h>
 #include <hal/HALBase.h>
 #include <hal/Power.h>
@@ -26,6 +28,13 @@ int64_t RobotController::GetFPGARevision() {
   return revision;
 }
 
+std::string RobotController::GetSerialNumber() {
+  // Serial number is 8 characters
+  char serialNum[9];
+  size_t len = HAL_GetSerialNumber(serialNum, sizeof(serialNum));
+  return std::string(serialNum, len);
+}
+
 uint64_t RobotController::GetFPGATime() {
   int32_t status = 0;
   uint64_t time = HAL_GetFPGATime(&status);

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

@@ -284,6 +284,16 @@ void RoboRioSim::SetBrownoutVoltage(units::volt_t vInVoltage) {
   HALSIM_SetRoboRioBrownoutVoltage(vInVoltage.value());
 }
 
+std::string RoboRioSim::GetSerialNumber() {
+  char serialNum[9];
+  size_t len = HALSIM_GetRoboRioSerialNumber(serialNum, sizeof(serialNum));
+  return std::string(serialNum, len);
+}
+
+void RoboRioSim::SetSerialNumber(std::string_view serialNumber) {
+  HALSIM_SetRoboRioSerialNumber(serialNumber.data(), serialNumber.size());
+}
+
 void RoboRioSim::ResetData() {
   HALSIM_ResetRoboRioData();
 }

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

@@ -6,6 +6,8 @@
 
 #include <stdint.h>
 
+#include <string>
+
 #include <units/voltage.h>
 
 namespace frc {
@@ -42,6 +44,13 @@ class RobotController {
    */
   static int64_t GetFPGARevision();
 
+  /**
+   * Returns the serial number of the roboRIO.
+   *
+   * @return The serial number of the roboRIO.
+   */
+  static std::string GetSerialNumber();
+
   /**
    * Read the microsecond-resolution timer on the FPGA.
    *

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

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include <units/current.h>
 #include <units/voltage.h>
@@ -418,6 +419,20 @@ class RoboRioSim {
    */
   static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
 
+  /**
+   * Get the serial number.
+   *
+   * @return The serial number.
+   */
+  static std::string GetSerialNumber();
+
+  /**
+   * Set the serial number.
+   *
+   * @param serialNumber The serial number.
+   */
+  static void SetSerialNumber(std::string_view serialNumber);
+
   /**
    * Reset all simulation data.
    */

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

@@ -207,4 +207,21 @@ TEST(RoboRioSimTest, Set3V3) {
   EXPECT_EQ(kTestFaults, RobotController::GetFaultCount3V3());
 }
 
+TEST(RoboRioSimTest, SetSerialNumber) {
+  const std::string kSerialNum = "Hello";
+
+  RoboRioSim::ResetData();
+
+  RoboRioSim::SetSerialNumber(kSerialNum);
+  EXPECT_EQ(kSerialNum, RoboRioSim::GetSerialNumber());
+  EXPECT_EQ(kSerialNum, RobotController::GetSerialNumber());
+
+  const std::string kSerialNumberOverflow = "SerialNumber";
+  const std::string kSerialNumberTruncated = kSerialNumberOverflow.substr(0, 8);
+
+  RoboRioSim::SetSerialNumber(kSerialNumberOverflow);
+  EXPECT_EQ(kSerialNumberTruncated, RoboRioSim::GetSerialNumber());
+  EXPECT_EQ(kSerialNumberTruncated, RobotController::GetSerialNumber());
+}
+
 }  // namespace frc::sim

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

@@ -36,6 +36,15 @@ public final class RobotController {
     return (long) HALUtil.getFPGARevision();
   }
 
+  /**
+   * Return the serial number of the roboRIO.
+   *
+   * @return The serial number of the roboRIO.
+   */
+  public static String getSerialNumber() {
+    return HALUtil.getSerialNumber();
+  }
+
   /**
    * Read the microsecond timer from the FPGA.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java

@@ -525,6 +525,24 @@ public final class RoboRioSim {
     RoboRioDataJNI.setBrownoutVoltage(vInVoltage);
   }
 
+  /**
+   * Get the serial number.
+   *
+   * @return The serial number.
+   */
+  public static String getSerialNumber() {
+    return RoboRioDataJNI.getSerialNumber();
+  }
+
+  /**
+   * Set the serial number.
+   *
+   * @param serialNumber The serial number.
+   */
+  public static void setSerialNumber(String serialNumber) {
+    RoboRioDataJNI.setSerialNumber(serialNumber);
+  }
+
   /** Reset all simulation data. */
   public static void resetData() {
     RoboRioDataJNI.resetData();

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java

@@ -208,4 +208,22 @@ class RoboRioSimTest {
       assertEquals(kTestFaults, RobotController.getFaultCount3V3());
     }
   }
+
+  @Test
+  void testSerialNumber() {
+    RoboRioSim.resetData();
+
+    final String kSerialNumber = "Hello";
+
+    RoboRioSim.setSerialNumber(kSerialNumber);
+    assertEquals(kSerialNumber, RoboRioSim.getSerialNumber());
+    assertEquals(kSerialNumber, RobotController.getSerialNumber());
+
+    // Make sure it truncates at 8 characters properly
+    final String kSerialNumberOverflow = "SerialNumber";
+    final String kSerialNumberTruncated = kSerialNumberOverflow.substring(0, 8);
+    RoboRioSim.setSerialNumber(kSerialNumberOverflow);
+    assertEquals(kSerialNumberTruncated, RoboRioSim.getSerialNumber());
+    assertEquals(kSerialNumberTruncated, RobotController.getSerialNumber());
+  }
 }