[wpilib] Split DriverStation into smaller classes (#8628)

commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java

@@ -23,7 +23,8 @@ import java.util.WeakHashMap;
 import java.util.function.BiConsumer;
 import java.util.function.Consumer;
 import org.wpilib.command2.Command.InterruptionBehavior;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.RobotState;
 import org.wpilib.event.EventLoop;
 import org.wpilib.framework.RobotBase;
 import org.wpilib.framework.TimedRobot;
@@ -175,7 +176,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
    */
   private void schedule(Command command) {
     if (command == null) {
-      DriverStation.reportWarning("Tried to schedule a null command", true);
+      DriverStationErrors.reportWarning("Tried to schedule a null command", true);
       return;
     }
     if (m_inRunLoop) {
@@ -189,7 +190,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     // run when disabled, or the command is already scheduled.
     if (m_disabled
         || isScheduled(command)
-        || DriverStation.isDisabled() && !command.runsWhenDisabled()) {
+        || RobotState.isDisabled() && !command.runsWhenDisabled()) {
       return;
     }
 
@@ -269,7 +270,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     m_watchdog.addEpoch("buttons.run()");
 
     m_inRunLoop = true;
-    boolean isDisabled = DriverStation.isDisabled();
+    boolean isDisabled = RobotState.isDisabled();
     // Run scheduled commands, remove finished commands.
     for (Iterator<Command> iterator = m_scheduledCommands.iterator(); iterator.hasNext(); ) {
       Command command = iterator.next();
@@ -337,11 +338,12 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
   public void registerSubsystem(Subsystem... subsystems) {
     for (Subsystem subsystem : subsystems) {
       if (subsystem == null) {
-        DriverStation.reportWarning("Tried to register a null subsystem", true);
+        DriverStationErrors.reportWarning("Tried to register a null subsystem", true);
         continue;
       }
       if (m_subsystems.containsKey(subsystem)) {
-        DriverStation.reportWarning("Tried to register an already-registered subsystem", true);
+        DriverStationErrors.reportWarning(
+            "Tried to register an already-registered subsystem", true);
         continue;
       }
       m_subsystems.put(subsystem, null);
@@ -379,11 +381,12 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
    */
   public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
     if (subsystem == null) {
-      DriverStation.reportWarning("Tried to set a default command for a null subsystem", true);
+      DriverStationErrors.reportWarning(
+          "Tried to set a default command for a null subsystem", true);
       return;
     }
     if (defaultCommand == null) {
-      DriverStation.reportWarning("Tried to set a null default command", true);
+      DriverStationErrors.reportWarning("Tried to set a null default command", true);
       return;
     }
 
@@ -394,7 +397,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     }
 
     if (defaultCommand.getInterruptionBehavior() == InterruptionBehavior.kCancelIncoming) {
-      DriverStation.reportWarning(
+      DriverStationErrors.reportWarning(
           "Registering a non-interruptible default command!\n"
               + "This will likely prevent any other commands from requiring this subsystem.",
           true);
@@ -413,7 +416,8 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
    */
   public void removeDefaultCommand(Subsystem subsystem) {
     if (subsystem == null) {
-      DriverStation.reportWarning("Tried to remove a default command for a null subsystem", true);
+      DriverStationErrors.reportWarning(
+          "Tried to remove a default command for a null subsystem", true);
       return;
     }
 
@@ -458,7 +462,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
    */
   private void cancel(Command command, Optional<Command> interruptor) {
     if (command == null) {
-      DriverStation.reportWarning("Tried to cancel a null command", true);
+      DriverStationErrors.reportWarning("Tried to cancel a null command", true);
       return;
     }
     if (m_endingCommands.contains(command)) {

commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java

@@ -39,7 +39,7 @@ public class WaitUntilCommand extends Command {
    * wait.
    *
    * @param time the match time after which to end, in seconds
-   * @see org.wpilib.driverstation.DriverStation#getMatchTime()
+   * @see org.wpilib.driverstation.MatchState#getMatchTime()
    */
   public WaitUntilCommand(double time) {
     this(() -> Timer.getMatchTime() < time);

commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java

@@ -7,8 +7,8 @@ package org.wpilib.command2.button;
 import java.util.HashMap;
 import java.util.Map;
 import org.wpilib.command2.CommandScheduler;
-import org.wpilib.driverstation.DriverStation.POVDirection;
 import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.POVDirection;
 import org.wpilib.event.EventLoop;
 import org.wpilib.math.util.Pair;
 

commandsv2/src/main/java/org/wpilib/command2/button/POVButton.java

@@ -6,8 +6,8 @@ package org.wpilib.command2.button;
 
 import static org.wpilib.util.ErrorMessages.requireNonNullParam;
 
-import org.wpilib.driverstation.DriverStation.POVDirection;
 import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.POVDirection;
 
 /**
  * A {@link Trigger} that gets its state from a POV on a {@link GenericHID}.

commandsv2/src/main/java/org/wpilib/command2/button/RobotModeTriggers.java

@@ -4,7 +4,7 @@
 
 package org.wpilib.command2.button;
 
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.RobotState;
 
 /**
  * A class containing static {@link Trigger} factories for running callbacks when the robot mode
@@ -20,7 +20,7 @@ public final class RobotModeTriggers {
    * @return A trigger that is true when the robot is enabled in autonomous mode.
    */
   public static Trigger autonomous() {
-    return new Trigger(DriverStation::isAutonomousEnabled);
+    return new Trigger(RobotState::isAutonomousEnabled);
   }
 
   /**
@@ -29,7 +29,7 @@ public final class RobotModeTriggers {
    * @return A trigger that is true when the robot is enabled in teleop mode.
    */
   public static Trigger teleop() {
-    return new Trigger(DriverStation::isTeleopEnabled);
+    return new Trigger(RobotState::isTeleopEnabled);
   }
 
   /**
@@ -38,7 +38,7 @@ public final class RobotModeTriggers {
    * @return A trigger that is true when the robot is disabled.
    */
   public static Trigger disabled() {
-    return new Trigger(DriverStation::isDisabled);
+    return new Trigger(RobotState::isDisabled);
   }
 
   /**
@@ -47,6 +47,6 @@ public final class RobotModeTriggers {
    * @return A trigger that is true when the robot is enabled in test mode.
    */
   public static Trigger test() {
-    return new Trigger(DriverStation::isTestEnabled);
+    return new Trigger(RobotState::isTestEnabled);
   }
 }

commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -12,7 +12,7 @@
 
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Subsystem.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/RobotState.hpp"
 #include "wpi/framework/RobotBase.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hal/UsageReporting.hpp"
@@ -99,7 +99,7 @@ void CommandScheduler::Schedule(Command* command) {
   RequireUngrouped(command);
 
   if (m_impl->disabled || m_impl->scheduledCommands.contains(command) ||
-      (wpi::DriverStation::IsDisabled() && !command->RunsWhenDisabled())) {
+      (wpi::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
     return;
   }
 
@@ -181,7 +181,7 @@ void CommandScheduler::Run() {
   loopCache->Poll();
   m_watchdog.AddEpoch("buttons.Run()");
 
-  bool isDisabled = wpi::DriverStation::IsDisabled();
+  bool isDisabled = wpi::RobotState::IsDisabled();
   // create a new set to avoid iterator invalidation.
   for (Command* command : wpi::util::SmallSet(m_impl->scheduledCommands)) {
     if (!IsScheduled(command)) {

commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp

@@ -16,51 +16,51 @@ Trigger CommandGenericHID::Button(int button, wpi::EventLoop* loop) const {
   return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
 }
 
-Trigger CommandGenericHID::POV(wpi::DriverStation::POVDirection angle,
+Trigger CommandGenericHID::POV(wpi::POVDirection angle,
                                wpi::EventLoop* loop) const {
   return POV(0, angle, loop);
 }
 
-Trigger CommandGenericHID::POV(int pov, wpi::DriverStation::POVDirection angle,
+Trigger CommandGenericHID::POV(int pov, wpi::POVDirection angle,
                                wpi::EventLoop* loop) const {
   return Trigger(loop,
                  [this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
 }
 
 Trigger CommandGenericHID::POVUp(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::UP, loop);
+  return POV(wpi::POVDirection::UP, loop);
 }
 
 Trigger CommandGenericHID::POVUpRight(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::UP_RIGHT, loop);
+  return POV(wpi::POVDirection::UP_RIGHT, loop);
 }
 
 Trigger CommandGenericHID::POVRight(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::RIGHT, loop);
+  return POV(wpi::POVDirection::RIGHT, loop);
 }
 
 Trigger CommandGenericHID::POVDownRight(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::DOWN_RIGHT, loop);
+  return POV(wpi::POVDirection::DOWN_RIGHT, loop);
 }
 
 Trigger CommandGenericHID::POVDown(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::DOWN, loop);
+  return POV(wpi::POVDirection::DOWN, loop);
 }
 
 Trigger CommandGenericHID::POVDownLeft(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::DOWN_LEFT, loop);
+  return POV(wpi::POVDirection::DOWN_LEFT, loop);
 }
 
 Trigger CommandGenericHID::POVLeft(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::LEFT, loop);
+  return POV(wpi::POVDirection::LEFT, loop);
 }
 
 Trigger CommandGenericHID::POVUpLeft(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::UP_LEFT, loop);
+  return POV(wpi::POVDirection::UP_LEFT, loop);
 }
 
 Trigger CommandGenericHID::POVCenter(wpi::EventLoop* loop) const {
-  return POV(wpi::DriverStation::POVDirection::CENTER, loop);
+  return POV(wpi::POVDirection::CENTER, loop);
 }
 
 Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,

commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp

@@ -4,22 +4,22 @@
 
 #include "wpi/commands2/button/RobotModeTriggers.hpp"
 
-#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/RobotState.hpp"
 
 using namespace wpi::cmd;
 
 Trigger RobotModeTriggers::Autonomous() {
-  return Trigger{&wpi::DriverStation::IsAutonomousEnabled};
+  return Trigger{&wpi::RobotState::IsAutonomousEnabled};
 }
 
 Trigger RobotModeTriggers::Teleop() {
-  return Trigger{&wpi::DriverStation::IsTeleopEnabled};
+  return Trigger{&wpi::RobotState::IsTeleopEnabled};
 }
 
 Trigger RobotModeTriggers::Disabled() {
-  return Trigger{&wpi::DriverStation::IsDisabled};
+  return Trigger{&wpi::RobotState::IsDisabled};
 }
 
 Trigger RobotModeTriggers::Test() {
-  return Trigger{&wpi::DriverStation::IsTestEnabled};
+  return Trigger{&wpi::RobotState::IsTestEnabled};
 }

commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp

@@ -6,8 +6,9 @@
 
 #include "wpi/commands2/CommandScheduler.hpp"
 #include "wpi/commands2/button/Trigger.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/POVDirection.hpp"
+#include "wpi/driverstation/internal/DriverStationBackend.hpp"
 
 namespace wpi::cmd {
 
@@ -56,7 +57,7 @@ class CommandGenericHID {
    * @param angle POV angle.
    * @return a Trigger instance based around this angle of a POV on the HID.
    */
-  Trigger POV(wpi::DriverStation::POVDirection angle,
+  Trigger POV(wpi::POVDirection angle,
               wpi::EventLoop* loop =
                   CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
@@ -70,7 +71,7 @@ class CommandGenericHID {
    * @param angle POV angle.
    * @return a Trigger instance based around this angle of a POV on the HID.
    */
-  Trigger POV(int pov, wpi::DriverStation::POVDirection angle,
+  Trigger POV(int pov, wpi::POVDirection angle,
               wpi::EventLoop* loop =
                   CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 

commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp

@@ -5,8 +5,8 @@
 #pragma once
 
 #include "wpi/commands2/button/Trigger.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/GenericHID.hpp"
+#include "wpi/driverstation/POVDirection.hpp"
 
 namespace wpi::cmd {
 /**
@@ -26,7 +26,7 @@ class POVButton : public Trigger {
    * @param angle The angle of the POV corresponding to a button press.
    * @param povNumber The number of the POV on the joystick.
    */
-  POVButton(wpi::GenericHID* joystick, wpi::DriverStation::POVDirection angle,
+  POVButton(wpi::GenericHID* joystick, wpi::POVDirection angle,
             int povNumber = 0)
       : Trigger([joystick, angle, povNumber] {
           return joystick->GetPOV(povNumber) == angle;

commandsv2/src/main/python/commands2/commandscheduler.py

@@ -9,7 +9,7 @@ from typing import Any, Callable, Dict, Iterable, List, Optional, Set, Union
 import hal
 from typing_extensions import Self
 from wpilib import (
-    DriverStation,
+    RobotState,
     EventLoop,
     RobotBase,
     TimedRobot,
@@ -192,7 +192,7 @@ class CommandScheduler(Sendable):
         if self.isScheduled(command):
             return
 
-        if DriverStation.isDisabled() and not command.runsWhenDisabled():
+        if RobotState.isDisabled() and not command.runsWhenDisabled():
             return
 
         requirements = command.getRequirements()
@@ -250,7 +250,7 @@ class CommandScheduler(Sendable):
         self._watchdog.addEpoch("buttons.run()")
 
         self._inRunLoop = True
-        isDisabled = DriverStation.isDisabled()
+        isDisabled = RobotState.isDisabled()
 
         # Run scheduled commands, remove finished commands.
         for command in self._scheduledCommands.copy():