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

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