[hal] Update runtime enum to allow selecting roborio 2 (#3565)

In some cases, knowing roborio 2 might be useful. This also creates a higher level enum that might be usable later for the discussion on more complex runtime types.

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

@@ -15,6 +15,10 @@ public final class HALUtil extends JNIWrapper {
   public static final int NO_AVAILABLE_RESOURCES = -104;
   public static final int PARAMETER_OUT_OF_RANGE = -1028;
 
+  public static final int RUNTIME_ROBORIO = 0;
+  public static final int RUNTIME_ROBORIO2 = 1;
+  public static final int RUNTIME_SIMULATION = 2;
+
   public static native short getFPGAVersion();
 
   public static native int getFPGARevision();

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

@@ -232,7 +232,11 @@ const char* HAL_GetErrorMessage(int32_t code) {
 }
 
 HAL_RuntimeType HAL_GetRuntimeType(void) {
-  return HAL_Athena;
+  nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
+  if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
+    return HAL_Runtime_RoboRIO2;
+  }
+  return HAL_Runtime_RoboRIO;
 }
 
 int32_t HAL_GetFPGAVersion(int32_t* status) {

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

@@ -30,6 +30,12 @@ using namespace wpi::java;
 #define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
 #define kRIOStatusResourceNotInitialized -52010
 
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO == HAL_Runtime_RoboRIO);
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_ROBORIO2 ==
+              HAL_Runtime_RoboRIO2);
+static_assert(edu_wpi_first_hal_HALUtil_RUNTIME_SIMULATION ==
+              HAL_Runtime_Simulation);
+
 static JavaVM* jvm = nullptr;
 static JException illegalArgExCls;
 static JException boundaryExCls;

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

@@ -15,7 +15,7 @@
  */
 
 // clang-format off
-HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
+HAL_ENUM(HAL_RuntimeType) { HAL_Runtime_RoboRIO, HAL_Runtime_RoboRIO2, HAL_Runtime_Simulation };
 // clang-format on
 
 #ifdef __cplusplus
@@ -64,6 +64,11 @@ int32_t HAL_GetFPGAVersion(int32_t* status);
  */
 int64_t HAL_GetFPGARevision(int32_t* status);
 
+/**
+ * Returns the runtime type of the HAL.
+ *
+ * @return HAL Runtime Type
+ */
 HAL_RuntimeType HAL_GetRuntimeType(void);
 
 /**

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

@@ -51,7 +51,7 @@ class SimPeriodicCallbackRegistry : public impl::SimCallbackRegistryBase {
 };
 }  // namespace
 
-static HAL_RuntimeType runtimeType{HAL_Mock};
+static HAL_RuntimeType runtimeType{HAL_Runtime_Simulation};
 static wpi::spinlock gOnShutdownMutex;
 static std::vector<std::pair<void*, void (*)(void*)>> gOnShutdown;
 static SimPeriodicCallbackRegistry gSimPeriodicBefore;

hal/src/test/native/cpp/HALTests.cpp

@@ -7,6 +7,6 @@
 
 namespace hal {
 TEST(HALTests, RuntimeType) {
-  EXPECT_EQ(HAL_RuntimeType::HAL_Mock, HAL_GetRuntimeType());
+  EXPECT_EQ(HAL_RuntimeType::HAL_Runtime_Simulation, HAL_GetRuntimeType());
 }
 }  // namespace hal

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

@@ -25,6 +25,13 @@
 #include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
+static_assert(frc::RuntimeType::kRoboRIO ==
+              static_cast<frc::RuntimeType>(HAL_Runtime_RoboRIO));
+static_assert(frc::RuntimeType::kRoboRIO2 ==
+              static_cast<frc::RuntimeType>(HAL_Runtime_RoboRIO2));
+static_assert(frc::RuntimeType::kSimulation ==
+              static_cast<frc::RuntimeType>(HAL_Runtime_Simulation));
+
 using SetCameraServerSharedFP = void (*)(frc::CameraServerShared*);
 
 using namespace frc;
@@ -213,6 +220,10 @@ std::thread::id RobotBase::GetThreadId() {
   return m_threadId;
 }
 
+RuntimeType RobotBase::GetRuntimeType() {
+  return static_cast<RuntimeType>(HAL_GetRuntimeType());
+}
+
 RobotBase::RobotBase() {
   m_threadId = std::this_thread::get_id();
 

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

@@ -15,6 +15,7 @@
 #include <wpi/mutex.h>
 
 #include "frc/Errors.h"
+#include "frc/RuntimeType.h"
 
 namespace frc {
 
@@ -211,6 +212,13 @@ class RobotBase {
 
   virtual void EndCompetition() = 0;
 
+  /**
+   * Get the current runtime type.
+   *
+   * @return Current runtime type.
+   */
+  static RuntimeType GetRuntimeType();
+
   /**
    * Get if the robot is real.
    *

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

@@ -0,0 +1,9 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+namespace frc {
+enum RuntimeType { kRoboRIO, kRoboRIO2, kSimulation };
+}  // namespace frc

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

@@ -160,6 +160,15 @@ public abstract class RobotBase implements AutoCloseable {
   @Override
   public void close() {}
 
+  /**
+   * Get the current runtime type.
+   *
+   * @return Current runtime type.
+   */
+  public static RuntimeType getRuntimeType() {
+    return RuntimeType.getValue(HALUtil.getHALRuntimeType());
+  }
+
   /**
    * Get if the robot is a simulation.
    *
@@ -175,7 +184,8 @@ public abstract class RobotBase implements AutoCloseable {
    * @return If the robot is running in the real world.
    */
   public static boolean isReal() {
-    return HALUtil.getHALRuntimeType() == 0;
+    RuntimeType runtimeType = getRuntimeType();
+    return runtimeType == RuntimeType.kRoboRIO || runtimeType == RuntimeType.kRoboRIO2;
   }
 
   /**

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

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.HALUtil;
+
+public enum RuntimeType {
+  kRoboRIO(HALUtil.RUNTIME_ROBORIO),
+  kRoboRIO2(HALUtil.RUNTIME_ROBORIO2),
+  kSimulation(HALUtil.RUNTIME_SIMULATION);
+
+  public final int value;
+
+  RuntimeType(int value) {
+    this.value = value;
+  }
+
+  /**
+   * Construct a runtime type from an int value.
+   *
+   * @param type Runtime type as int
+   * @return Matching runtime type
+   */
+  public static RuntimeType getValue(int type) {
+    if (type == HALUtil.RUNTIME_ROBORIO) {
+      return RuntimeType.kRoboRIO;
+    } else if (type == HALUtil.RUNTIME_ROBORIO2) {
+      return RuntimeType.kRoboRIO2;
+    }
+    return RuntimeType.kSimulation;
+  }
+}