Adds HAL calls for match data from DS (#691)

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

@@ -230,6 +230,67 @@ double HAL_GetMatchTime(int32_t* status) {
   return matchTime;
 }
 
+int HAL_GetMatchInfo(HAL_MatchInfo* info) {
+  uint16_t gameSpecificMessageSize = 0;
+  int status = FRC_NetworkCommunication_getMatchInfo(
+      nullptr, nullptr, nullptr, nullptr, nullptr, &gameSpecificMessageSize);
+  if (status < 0) {
+    info->eventName = nullptr;
+    info->gameSpecificMessage = nullptr;
+    return status;
+  }
+  info->eventName = static_cast<char*>(std::malloc(256));
+  gameSpecificMessageSize = ((gameSpecificMessageSize + 1023) / 1024) * 1024;
+  uint16_t originalGameSpecificSize = gameSpecificMessageSize;
+  uint8_t* gameSpecificMessage =
+      static_cast<uint8_t*>(std::malloc(gameSpecificMessageSize));
+  MatchType_t matchType = MatchType_t::kMatchType_none;
+  uint16_t matchNumber = 0;
+  uint8_t replayNumber = 0;
+  status = FRC_NetworkCommunication_getMatchInfo(
+      info->eventName, &matchType, &matchNumber, &replayNumber,
+      gameSpecificMessage, &gameSpecificMessageSize);
+  if (status < 0) {
+    std::free(info->eventName);
+    std::free(gameSpecificMessage);
+    info->eventName = nullptr;
+    info->gameSpecificMessage = nullptr;
+    return status;
+  }
+  if (gameSpecificMessageSize >= originalGameSpecificSize) {
+    // Data has updated between size and read calls. Retry.
+    // Unless large lag, this call will be right.
+    std::free(gameSpecificMessage);
+    gameSpecificMessageSize = ((gameSpecificMessageSize + 1023) / 1024) * 1024;
+    gameSpecificMessage =
+        static_cast<uint8_t*>(std::malloc(gameSpecificMessageSize));
+    int status = FRC_NetworkCommunication_getMatchInfo(
+        nullptr, nullptr, nullptr, nullptr, gameSpecificMessage,
+        &gameSpecificMessageSize);
+    if (status < 0) {
+      std::free(info->eventName);
+      std::free(gameSpecificMessage);
+      info->eventName = nullptr;
+      info->gameSpecificMessage = nullptr;
+      return status;
+    }
+  }
+  info->eventName[255] = '\0';
+  info->matchType = static_cast<HAL_MatchType>(matchType);
+  info->matchNumber = matchNumber;
+  info->replayNumber = replayNumber;
+  info->gameSpecificMessage = reinterpret_cast<char*>(gameSpecificMessage);
+  info->gameSpecificMessage[gameSpecificMessageSize] = '\0';
+  return status;
+}
+
+void HAL_FreeMatchInfo(HAL_MatchInfo* info) {
+  std::free(info->eventName);
+  std::free(info->gameSpecificMessage);
+  info->eventName = nullptr;
+  info->gameSpecificMessage = nullptr;
+}
+
 void HAL_ObserveUserProgramStarting(void) {
   FRC_NetworkCommunication_observeUserProgramStarting();
 }

hal/src/main/native/include/HAL/DriverStation.h

@@ -47,6 +47,13 @@ enum HAL_AllianceStationID : int32_t {
   HAL_AllianceStationID_kBlue3,
 };
 
+enum HAL_MatchType {
+  HAL_kMatchType_none,
+  HAL_kMatchType_practice,
+  HAL_kMatchType_qualification,
+  HAL_kMatchType_elimination,
+};
+
 /* The maximum number of axes that will be stored in a single HALJoystickAxes
  * struct. This is used for allocating buffers, not bounds checking, since
  * there are usually less axes in practice.
@@ -79,9 +86,18 @@ struct HAL_JoystickDescriptor {
   uint8_t povCount;
 };
 
+struct HAL_MatchInfo {
+  char* eventName;
+  HAL_MatchType matchType;
+  uint16_t matchNumber;
+  uint8_t replayNumber;
+  char* gameSpecificMessage;
+};
+
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
                          int32_t waitMs);
 int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
@@ -105,6 +121,9 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
                                int32_t leftRumble, int32_t rightRumble);
 double HAL_GetMatchTime(int32_t* status);
 
+int HAL_GetMatchInfo(HAL_MatchInfo* info);
+void HAL_FreeMatchInfo(HAL_MatchInfo* info);
+
 #ifndef HAL_USE_LABVIEW
 
 void HAL_ReleaseDSMutex(void);

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

@@ -14,6 +14,7 @@
 #include <condition_variable>
 #include <cstdio>
 #include <cstdlib>
+#include <cstring>
 #include <mutex>
 #include <string>
 
@@ -153,6 +154,23 @@ double HAL_GetMatchTime(int32_t* status) {
   return SimDriverStationData.GetMatchTime();
 }
 
+int HAL_GetMatchInfo(HAL_MatchInfo* info) {
+  info->eventName = static_cast<char*>(std::malloc(1));
+  info->eventName[0] = '\0';
+  info->matchNumber = 0;
+  info->replayNumber = 0;
+  info->gameSpecificMessage = static_cast<char*>(std::malloc(1));
+  info->gameSpecificMessage[0] = '\0';
+  return 0;
+}
+
+void HAL_FreeMatchInfo(HAL_MatchInfo* info) {
+  std::free(info->eventName);
+  std::free(info->gameSpecificMessage);
+  info->eventName = nullptr;
+  info->gameSpecificMessage = nullptr;
+}
+
 void HAL_ObserveUserProgramStarting(void) { HALSIM_SetProgramStarted(); }
 
 void HAL_ObserveUserProgramDisabled(void) {