From 77e4e81e1e3897972db14f390790f957e38c8ee5 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 24 Jan 2022 20:33:11 -0800
Subject: [PATCH] [wpilib] Add Field widget to BuiltInWidgets in shuffleboard
 (#3961)

---
 .../native/cpp/shuffleboard/ShuffleboardWidget.cpp    |  1 +
 .../native/include/frc/shuffleboard/BuiltInWidgets.h  | 11 ++++++++++-
 .../first/wpilibj/shuffleboard/BuiltInWidgets.java    |  9 +++++++++
 3 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
index 81f6671c60..31e4b11b04 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
@@ -31,6 +31,7 @@ static constexpr const char* widgetStrings[] = {
     "Differential Drivebase",
     "Mecanum Drivebase",
     "Camera Stream",
+    "Field",
 };
 
 const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
index 9ac315f8e9..d7ed1d5751 100644
--- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
@@ -370,7 +370,16 @@ enum class BuiltInWidgets {
    * </td></tr>
    * </table>
    */
-  kCameraStream
+  kCameraStream,
+  /**
+   * Displays a field2d object.<br>
+   * Supported types:
+   *
+   * <ul>
+   *   <li>Field2d
+   * </ul>
+   */
+  kField,
 };
 
 }  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
index 82f2745c94..8df2c46b45 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
@@ -473,6 +473,15 @@ public enum BuiltInWidgets implements WidgetType {
    * </table>
    */
   kCameraStream("Camera Stream"),
+  /**
+   * Displays a field2d object.<br>
+   * Supported types:
+   *
+   * <ul>
+   *   <li>{@link edu.wpi.first.wpilibj.smartdashboard.Field2d}
+   * </ul>
+   */
+  kField("Field"),
   ;
 
   private final String m_widgetName;