[hal,wpilib] Switch to new game data (#8584)

Game data is now limited to 8 bytes, and comes through the UDP packets.

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

@@ -312,6 +312,29 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_getMatchInfo
   return status;
 }
 
+/*
+ * Class:     org_wpilib_hardware_hal_DriverStationJNI
+ * Method:    getGameData
+ * Signature: (Ljava/lang/String;)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_org_wpilib_hardware_hal_DriverStationJNI_getGameData
+  (JNIEnv* env, jclass, jstring existing)
+{
+  HAL_GameData gameData;
+  HAL_GetGameData(&gameData);
+  std::string_view newView{gameData.gameData};
+  if (existing != nullptr) {
+    // Load existing, see if it matches return old
+    JStringRef existingStr{env, existing};
+    std::string_view existingView{existingStr};
+    if (existingView == newView) {
+      return existing;
+    }
+  }
+  return MakeJString(env, newView);
+}
+
 /*
  * Class:     org_wpilib_hardware_hal_DriverStationJNI
  * Method:    sendError

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

@@ -284,17 +284,12 @@ void SetCanStatusObject(JNIEnv* env, jobject canStatus,
 void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
                         const HAL_MatchInfo& matchInfo) {
   static jmethodID func =
-      env->GetMethodID(matchInfoDataCls, "setData",
-                       "(Ljava/lang/String;Ljava/lang/String;III)V");
+      env->GetMethodID(matchInfoDataCls, "setData", "(Ljava/lang/String;III)V");
 
-  env->CallVoidMethod(
-      matchStatus, func, MakeJString(env, matchInfo.eventName),
-      MakeJString(env,
-                  {reinterpret_cast<const char*>(matchInfo.gameSpecificMessage),
-                   matchInfo.gameSpecificMessageSize}),
-      static_cast<jint>(matchInfo.matchNumber),
-      static_cast<jint>(matchInfo.replayNumber),
-      static_cast<jint>(matchInfo.matchType));
+  env->CallVoidMethod(matchStatus, func, MakeJString(env, matchInfo.eventName),
+                      static_cast<jint>(matchInfo.matchNumber),
+                      static_cast<jint>(matchInfo.replayNumber),
+                      static_cast<jint>(matchInfo.matchType));
 }
 
 jbyteArray SetCANReceiveMessageObject(JNIEnv* env, jobject canData,

hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp

@@ -583,31 +583,39 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_getJoystickRumble
 /*
  * Class:     org_wpilib_hardware_hal_simulation_DriverStationDataJNI
  * Method:    setMatchInfo
- * Signature: (Ljava/lang/String;Ljava/lang/String;III)V
+ * Signature: (Ljava/lang/String;III)V
  */
 JNIEXPORT void JNICALL
 Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setMatchInfo
-  (JNIEnv* env, jclass, jstring eventName, jstring gameSpecificMessage,
-   jint matchNumber, jint replayNumber, jint matchType)
+  (JNIEnv* env, jclass, jstring eventName, jint matchNumber, jint replayNumber,
+   jint matchType)
 {
   JStringRef eventNameRef{env, eventName};
-  JStringRef gameSpecificMessageRef{env, gameSpecificMessage};
 
   HAL_MatchInfo halMatchInfo;
   wpi::util::format_to_n_c_str(halMatchInfo.eventName,
                                sizeof(halMatchInfo.eventName), "{}",
                                eventNameRef.str());
-  wpi::util::format_to_n_c_str(
-      reinterpret_cast<char*>(halMatchInfo.gameSpecificMessage),
-      sizeof(halMatchInfo.gameSpecificMessage), "{}",
-      gameSpecificMessageRef.str());
-  halMatchInfo.gameSpecificMessageSize = gameSpecificMessageRef.size();
   halMatchInfo.matchType = (HAL_MatchType)matchType;
   halMatchInfo.matchNumber = matchNumber;
   halMatchInfo.replayNumber = replayNumber;
   HALSIM_SetMatchInfo(&halMatchInfo);
 }
 
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_DriverStationDataJNI
+ * Method:    setGameData
+ * Signature: (Ljava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setGameData
+  (JNIEnv* env, jclass, jstring gameData)
+{
+  JStringRef gameDataRef{env, gameData};
+  auto str = wpi::util::make_string(gameDataRef.str());
+  HALSIM_SetGameDataString(&str);
+}
+
 /*
  * Class:     org_wpilib_hardware_hal_simulation_DriverStationDataJNI
  * Method:    registerAllCallbacks
@@ -838,20 +846,6 @@ Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setJoystickName
   HALSIM_SetJoystickName(stick, &str);
 }
 
-/*
- * Class:     org_wpilib_hardware_hal_simulation_DriverStationDataJNI
- * Method:    setGameSpecificMessage
- * Signature: (Ljava/lang/String;)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_simulation_DriverStationDataJNI_setGameSpecificMessage
-  (JNIEnv* env, jclass, jstring message)
-{
-  JStringRef messageJString{env, message};
-  auto str = wpi::util::make_string(messageJString);
-  HALSIM_SetGameSpecificMessage(&str);
-}
-
 /*
  * Class:     org_wpilib_hardware_hal_simulation_DriverStationDataJNI
  * Method:    setEventName

hal/src/main/native/cpp/proto/ControlDataProto.cpp

@@ -2,6 +2,7 @@
 // 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.
 
+#include <string>
 #include <utility>
 
 #include "wpi/hal/proto/ControlData.h"
@@ -65,12 +66,14 @@ constexpr mrc::ControlFlags ToControlWord(uint32_t Word) {
 std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
     InputStream& Stream) {
   wpi::util::UnpackCallback<mrc::Joystick, MRC_MAX_NUM_JOYSTICKS> JoystickCb;
+  wpi::util::UnpackCallback<std::string> GameDataCb;
 
   mrc_proto_ProtobufControlData Msg{
       .MatchTime = 0,
       .Joysticks = JoystickCb.Callback(),
       .CurrentOpMode = 0,
       .ControlWord = 0,
+      .GameData = GameDataCb.Callback(),
   };
 
   if (!Stream.Decode(Msg)) {
@@ -78,6 +81,7 @@ std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
   }
 
   auto Joysticks = JoystickCb.Items();
+  auto GameData = GameDataCb.Items();
 
   mrc::ControlData ControlData;
 
@@ -90,6 +94,10 @@ std::optional<mrc::ControlData> wpi::util::Protobuf<mrc::ControlData>::Unpack(
     ControlData.Joysticks()[i] = std::move(Joysticks[i]);
   }
 
+  if (GameData.size() >= 1) {
+    ControlData.MoveGameData(std::move(GameData[0]));
+  }
+
   return ControlData;
 }
 
@@ -97,12 +105,15 @@ bool wpi::util::Protobuf<mrc::ControlData>::Pack(
     OutputStream& Stream, const mrc::ControlData& Value) {
   std::span<const mrc::Joystick> Sticks = Value.Joysticks();
   wpi::util::PackCallback Joysticks{Sticks};
+  std::string_view GameData = Value.GetGameData();
+  wpi::util::PackCallback GameDataCb{&GameData};
 
   mrc_proto_ProtobufControlData Msg{
       .MatchTime = Value.MatchTime,
       .Joysticks = Joysticks.Callback(),
       .CurrentOpMode = Value.CurrentOpMode.ToValue(),
       .ControlWord = FromControlWord(Value.ControlWord),
+      .GameData = GameDataCb.Callback(),
   };
 
   return Stream.Encode(Msg);