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

wpilibc/src/main/python/pyproject.toml

@@ -105,8 +105,15 @@ MecanumDrive = "wpi/drive/MecanumDrive.hpp"
 RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
 
 # wpi/driverstation
+DriverStationBackend = "wpi/driverstation/internal/DriverStationBackend.hpp"
+Alliance = "wpi/driverstation/Alliance.hpp"
 Alert = "wpi/driverstation/Alert.hpp"
 DriverStation = "wpi/driverstation/DriverStation.hpp"
+MatchState = "wpi/driverstation/MatchState.hpp"
+MatchType = "wpi/driverstation/MatchType.hpp"
+POVDirection = "wpi/driverstation/POVDirection.hpp"
+RobotState = "wpi/driverstation/RobotState.hpp"
+TouchpadFinger = "wpi/driverstation/TouchpadFinger.hpp"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"

wpilibc/src/main/python/semiwrap/Alliance.yml

@@ -0,0 +1,2 @@
+enums:
+  Alliance:

wpilibc/src/main/python/semiwrap/DriverStation.yml

@@ -1,82 +1,12 @@
 extra_includes:
 - wpi/datalog/DataLog.hpp
-- wpi/util/Color.hpp
 
 classes:
   wpi::DriverStation:
-    attributes:
-      JOYSTICK_PORTS:
-    enums:
-      Alliance:
-      MatchType:
-      POVDirection:
     methods:
-      GetStickButton:
-      GetStickButtonPressed:
-      GetStickButtonReleased:
-      GetStickAxis:
-      GetStickPOV:
-      GetStickButtons:
-      GetJoystickGamepadType:
-      GetJoystickSupportedOutputs:
-      GetJoystickName:
-      IsJoystickConnected:
-      IsEnabled:
-      IsDisabled:
-      IsEStopped:
-      IsAutonomous:
-      IsAutonomousEnabled:
-      IsTeleop:
-      IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
-      IsDSAttached:
-      IsFMSAttached:
-      GetGameData:
-      GetEventName:
-      GetMatchType:
-      GetMatchNumber:
-      GetReplayNumber:
-      GetAlliance:
-      GetLocation:
-      GetMatchTime:
-      GetBatteryVoltage:
-      RefreshData:
       ProvideRefreshedDataEventHandle:
       RemoveRefreshedDataEventHandle:
-      SilenceJoystickConnectionWarning:
-      IsJoystickConnectionWarningSilenced:
       StartDataLog:
-      GetAngle:
-      GetJoystickIsGamepad:
-      GetStickButtonIfAvailable:
-      GetStickAxisIfAvailable:
-      GetStickAxesMaximumIndex:
-      GetStickAxesAvailable:
-      GetStickPOVsMaximumIndex:
-      GetStickPOVsAvailable:
-      GetStickButtonsMaximumIndex:
-      GetStickButtonsAvailable:
-      GetRobotMode:
-      AddOpMode:
         overloads:
-          RobotMode, std::string_view, std::string_view, std::string_view:
-          RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
-      RemoveOpMode:
-      PublishOpModes:
-      ClearOpModes:
-      GetOpModeId:
-      GetOpMode:
-      IsOpMode:
-        overloads:
-          int64_t:
-          std::string_view:
-      GetControlWord:
-      GetStickTouchpadFinger:
-      GetStickTouchpadFingerAvailable:
-      ObserveUserProgramStarting:
-  wpi::DriverStation::TouchpadFinger:
-    attributes:
-      down:
-      x:
-      y:
+          wpi::log::DataLog&:
+          wpi::log::DataLog&, bool:

wpilibc/src/main/python/semiwrap/DriverStationBackend.yml

@@ -0,0 +1,72 @@
+extra_includes:
+- wpi/datalog/DataLog.hpp
+- wpi/util/Color.hpp
+
+classes:
+  wpi::internal::DriverStationBackend:
+    attributes:
+      JOYSTICK_PORTS:
+    methods:
+      GetStickButton:
+      GetStickButtonIfAvailable:
+      GetStickButtonPressed:
+      GetStickButtonReleased:
+      GetStickAxis:
+      GetStickTouchpadFinger:
+      GetStickTouchpadFingerAvailable:
+      GetStickAxisIfAvailable:
+      GetStickPOV:
+      GetStickButtons:
+      GetStickAxesMaximumIndex:
+      GetStickAxesAvailable:
+      GetStickPOVsMaximumIndex:
+      GetStickPOVsAvailable:
+      GetStickButtonsMaximumIndex:
+      GetStickButtonsAvailable:
+      GetJoystickIsGamepad:
+      GetJoystickGamepadType:
+      GetJoystickSupportedOutputs:
+      GetJoystickName:
+      IsJoystickConnected:
+      IsEnabled:
+      IsDisabled:
+      IsEStopped:
+      GetRobotMode:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      AddOpMode:
+        overloads:
+          RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
+          RobotMode, std::string_view, std::string_view, std::string_view:
+      RemoveOpMode:
+      PublishOpModes:
+      ClearOpModes:
+      GetOpModeId:
+      GetOpMode:
+      IsOpMode:
+        overloads:
+          int64_t:
+          std::string_view:
+      IsDSAttached:
+      IsFMSAttached:
+      GetGameData:
+      GetEventName:
+      GetMatchType:
+      GetMatchNumber:
+      GetReplayNumber:
+      GetAlliance:
+      GetLocation:
+      GetMatchTime:
+      GetBatteryVoltage:
+      GetControlWord:
+      RefreshData:
+      ProvideRefreshedDataEventHandle:
+      RemoveRefreshedDataEventHandle:
+      SilenceJoystickConnectionWarning:
+      IsJoystickConnectionWarningSilenced:
+      StartDataLog:
+      ObserveUserProgramStarting:

wpilibc/src/main/python/semiwrap/GenericHID.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/driverstation/DriverStation.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
 - wpi/event/BooleanEvent.hpp
 
 classes:
@@ -19,8 +19,8 @@ classes:
       GetPOV:
       POV:
         overloads:
-          DriverStation::POVDirection, EventLoop* [const]:
-          int, DriverStation::POVDirection, EventLoop* [const]:
+          POVDirection, EventLoop* [const]:
+          int, POVDirection, EventLoop* [const]:
       POVUp:
       POVUpRight:
       POVRight:

wpilibc/src/main/python/semiwrap/Joystick.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/driverstation/DriverStation.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
 
 classes:
   wpi::Joystick:

wpilibc/src/main/python/semiwrap/MatchState.yml

@@ -0,0 +1,11 @@
+classes:
+  wpi::MatchState:
+    methods:
+      GetMatchTime:
+      GetAlliance:
+      GetLocation:
+      GetReplayNumber:
+      GetMatchNumber:
+      GetMatchType:
+      GetEventName:
+      GetGameData:

wpilibc/src/main/python/semiwrap/MatchType.yml

@@ -0,0 +1,2 @@
+enums:
+  MatchType:

wpilibc/src/main/python/semiwrap/NiDsXboxController.yml

@@ -1,6 +1,6 @@
 extra_includes:
 - wpi/util/sendable/SendableBuilder.hpp
-- wpi/driverstation/DriverStation.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
 - wpi/event/BooleanEvent.hpp
 
 classes:

wpilibc/src/main/python/semiwrap/POVDirection.yml

@@ -0,0 +1,4 @@
+enums:
+  POVDirection:
+functions:
+  GetPOVAngle:

wpilibc/src/main/python/semiwrap/RobotBase.yml

@@ -1,5 +1,5 @@
 extra_includes:
-- wpi/driverstation/DriverStation.hpp
+- wpi/driverstation/internal/DriverStationBackend.hpp
 
 functions:
   # TODO

wpilibc/src/main/python/semiwrap/RobotState.yml

@@ -0,0 +1,31 @@
+extra_includes:
+- wpi/util/Color.hpp
+
+classes:
+  wpi::RobotState:
+    methods:
+      IsEnabled:
+      IsDisabled:
+      IsEStopped:
+      GetRobotMode:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      AddOpMode:
+        overloads:
+          RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
+          RobotMode, std::string_view, std::string_view, std::string_view:
+      RemoveOpMode:
+      PublishOpModes:
+      ClearOpModes:
+      GetOpModeId:
+      GetOpMode:
+      IsOpMode:
+        overloads:
+          int64_t:
+          std::string_view:
+      IsDSAttached:
+      IsFMSAttached:

wpilibc/src/main/python/semiwrap/TouchpadFinger.yml

@@ -0,0 +1,6 @@
+classes:
+  wpi::TouchpadFinger:
+    attributes:
+      down:
+      x:
+      y:

wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml

@@ -10,8 +10,8 @@ classes:
       SetRawAxis:
       SetPOV:
         overloads:
-          int, DriverStation::POVDirection:
-          DriverStation::POVDirection:
+          int, POVDirection:
+          POVDirection:
       SetGamepadType:
       SetSupportedOutputs:
       SetName:

wpilibc/src/main/python/wpilib/__init__.py

@@ -21,6 +21,7 @@ from ._wpilib import (
     DigitalOutput,
     DoubleSolenoid,
     DriverStation,
+    DriverStationBackend,
     DutyCycle,
     DutyCycleEncoder,
     EdgeConfiguration,
@@ -39,6 +40,7 @@ from ._wpilib import (
     Joystick,
     Koors40,
     LEDPattern,
+    MatchState,
     MecanumDrive,
     Mechanism2d,
     MechanismLigament2d,
@@ -72,6 +74,7 @@ from ._wpilib import (
     RobotBase,
     RobotController,
     RobotDriveBase,
+    RobotState,
     RuntimeType,
     SendableBuilderImpl,
     SendableChooser,
@@ -124,6 +127,7 @@ __all__ = [
     "DigitalOutput",
     "DoubleSolenoid",
     "DriverStation",
+    "DriverStationBackend",
     "DutyCycle",
     "DutyCycleEncoder",
     "EdgeConfiguration",
@@ -142,6 +146,7 @@ __all__ = [
     "Joystick",
     "Koors40",
     "LEDPattern",
+    "MatchState",
     "MecanumDrive",
     "Mechanism2d",
     "MechanismLigament2d",
@@ -173,6 +178,7 @@ __all__ = [
     "PowerDistribution",
     "Preferences",
     "RobotBase",
+    "RobotState",
     "RobotController",
     "RobotDriveBase",
     "RuntimeType",

wpilibc/src/main/python/wpilib/_impl/start.py

@@ -189,8 +189,8 @@ class RobotStarter:
 
         wpilib.SmartDashboard.init()
 
-        # Call DriverStation.refreshData() to kick things off
-        wpilib.DriverStation.refreshData()
+        # Call DriverStationBackend.refreshData() to kick things off
+        wpilib.DriverStationBackend.refreshData()
 
         try:
             self.robot = robot_cls()

wpilibc/src/main/python/wpilib/testing/pytest_plugin.py

@@ -73,7 +73,7 @@ class RobotTestingPlugin:
         pauseTiming()
         restartTiming()
 
-        wpilib.DriverStation.silenceJoystickConnectionWarning(True)
+        wpilib.DriverStationBackend.silenceJoystickConnectionWarning(True)
         DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS)
         DriverStationSim.setEnabled(False)
         DriverStationSim.notifyNewData()