[hal,wpilib] Move Alert to HAL (#8646)

SystemCore implementation is not yet connected to MRCComm.

wpilibc/src/main/native/include/wpi/driverstation/Alert.hpp

@@ -4,30 +4,28 @@
 
 #pragma once
 
-#include <stdint.h>
-
-#include <set>
 #include <string>
+#include <string_view>
+
+#include "wpi/hal/Alert.h"
+#include "wpi/hal/Types.h"
 
 namespace wpi {
 
 /**
- * Persistent alert to be sent via NetworkTables. Alerts are tagged with a type
- * of kError, kWarning, or kInfo to denote urgency. See Alert::AlertType for
- * suggested usage of each type. Alerts can be displayed on supported
- * dashboards, and are shown in a priority order based on type and recency of
- * activation, with newly activated alerts first.
+ * Persistent alert to be sent to the driver station. Alerts are tagged with a
+ * type of HIGH/ERROR, MEDIUM/WARNING, or LOW/INFO to denote urgency. See
+ * Alert::Level for suggested usage of each type. Alerts can be displayed on
+ * supported dashboards, and are shown in a priority order based on type and
+ * recency of activation, with newly activated alerts first.
  *
  * Alerts should be created once and stored persistently, then updated to
  * "active" or "inactive" as necessary. Set(bool) can be safely called
  * periodically.
  *
- * This API is new for 2025, but is likely to change in future seasons to
- * facilitate deeper integration with the robot control system.
- *
  * <pre>
  * class Robot {
- *   wpi::Alert alert{"Something went wrong", wpi::Alert::AlertType::kWarning};
+ *   wpi::Alert alert{"Something went wrong", wpi::Alert::Level::WARNING};
  * }
  *
  * Robot::periodic() {
@@ -40,28 +38,36 @@ class Alert {
   /**
    * Represents an alert's level of urgency.
    */
-  enum class AlertType {
+  enum class Level {
     /**
-     * High priority alert - displayed first on the dashboard with a red "X"
+     * High priority alert - displayed first with a red "X"
      * symbol. Use this type for problems which will seriously affect the
      * robot's functionality and thus require immediate attention.
      */
-    kError,
+    HIGH = HAL_ALERT_HIGH,
+
+    /** Alternate name for a high priority alert. */
+    ERROR = HIGH,
 
     /**
-     * Medium priority alert - displayed second on the dashboard with a yellow
-     * "!" symbol. Use this type for problems which could affect the robot's
-     * functionality but do not necessarily require immediate attention.
+     * Medium priority alert - displayed second with a yellow "!" symbol.
+     * Use this type for problems which could affect the robot's functionality
+     * but do not necessarily require immediate attention.
      */
-    kWarning,
+    MEDIUM = HAL_ALERT_MEDIUM,
+
+    /** Alternate name for a medium priority alert. */
+    WARNING = MEDIUM,
 
     /**
-     * Low priority alert - displayed last on the dashboard with a green "i"
-     * symbol. Use this type for problems which are unlikely to affect the
-     * robot's functionality, or any other alerts which do not fall under the
-     * other categories.
+     * Low priority alert - displayed last with a green "i" symbol. Use this
+     * type for problems which are unlikely to affect the robot's functionality,
+     * or any other alerts which do not fall under the other categories.
      */
-    kInfo
+    LOW = HAL_ALERT_LOW,
+
+    /** Alternate name for a low priority alert. */
+    INFO = LOW
   };
 
   /**
@@ -69,9 +75,9 @@ class Alert {
    * to be instantiated, the appropriate entries will be added to NetworkTables.
    *
    * @param text Text to be displayed when the alert is active.
-   * @param type Alert urgency level.
+   * @param level Alert urgency level.
    */
-  Alert(std::string_view text, AlertType type);
+  Alert(std::string_view text, Level level);
 
   /**
    * Creates a new alert. If this is the first to be instantiated in its group,
@@ -79,17 +85,9 @@ class Alert {
    *
    * @param group Group identifier, used as the entry name in NetworkTables.
    * @param text Text to be displayed when the alert is active.
-   * @param type Alert urgency level.
+   * @param level Alert urgency level.
    */
-  Alert(std::string_view group, std::string_view text, AlertType type);
-
-  Alert(Alert&&);
-  Alert& operator=(Alert&&);
-
-  Alert(const Alert&) = default;
-  Alert& operator=(const Alert&) = default;
-
-  ~Alert();
+  Alert(std::string_view group, std::string_view text, Level level);
 
   /**
    * Sets whether the alert should currently be displayed. This method can be
@@ -103,7 +101,7 @@ class Alert {
    * Gets whether the alert is active.
    * @return whether the alert is active.
    */
-  bool Get() const { return m_active; }
+  bool Get() const;
 
   /**
    * Updates current alert text. Use this method to dynamically change the
@@ -117,25 +115,17 @@ class Alert {
    * Gets the current alert text.
    * @return the current text.
    */
-  std::string GetText() const { return m_text; }
+  std::string GetText() const;
 
   /**
    * Get the type of this alert.
    * @return the type
    */
-  AlertType GetType() const { return m_type; }
+  Level GetType() const { return m_type; }
 
  private:
-  class PublishedAlert;
-  class SendableAlerts;
-
-  AlertType m_type;
-  std::string m_text;
-  std::set<PublishedAlert>* m_activeAlerts;
-  bool m_active = false;
-  uint64_t m_activeStartTime;
+  Level m_type;
+  wpi::hal::Handle<HAL_AlertHandle, HAL_DestroyAlert> m_handle;
 };
 
-std::string format_as(Alert::AlertType type);
-
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/simulation/AlertSim.hpp

@@ -0,0 +1,70 @@
+// 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
+
+#include <stdint.h>
+
+#include <string>
+#include <vector>
+
+#include "wpi/driverstation/Alert.hpp"
+#include "wpi/hal/Types.h"
+
+namespace wpi::sim {
+
+/**
+ * Class to get info on simulated alerts.
+ */
+class AlertSim final {
+ public:
+  AlertSim() = delete;
+
+  /** Information about an alert. */
+  struct AlertInfo {
+    /** The handle of the alert. */
+    HAL_AlertHandle handle;
+
+    /** The group of the alert. */
+    std::string group;
+
+    /** The text of the alert. */
+    std::string text;
+
+    /** The time the alert became active. 0 if not active. */
+    int64_t activeStartTime;
+
+    /** The level of the alert (HIGH, MEDIUM, or LOW). */
+    Alert::Level level;
+
+    /**
+     * Returns whether the alert is currently active.
+     *
+     * @return true if the alert is active, false otherwise
+     */
+    bool isActive() const { return activeStartTime != 0; }
+  };
+
+  /**
+   * Gets the number of alerts. Note: this is not guaranteed to be consistent
+   * with the number of alerts returned by GetAll.
+   *
+   * @return the number of alerts
+   */
+  static int32_t GetCount();
+
+  /**
+   * Gets detailed information about each alert.
+   *
+   * @return Alerts
+   */
+  static std::vector<AlertInfo> GetAll();
+
+  /**
+   * Resets all alert simulation data.
+   */
+  static void ResetData();
+};
+
+}  // namespace wpi::sim