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

wpilibc/src/test/native/cpp/DriverStationTest.cpp

@@ -2,14 +2,13 @@
 // 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 "wpi/driverstation/DriverStation.hpp"
-
 #include <string>
 #include <tuple>
 
 #include <gtest/gtest.h>
 
 #include "wpi/driverstation/Joystick.hpp"
+#include "wpi/driverstation/internal/DriverStationBackend.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 
@@ -26,7 +25,7 @@ TEST_P(IsJoystickConnectedParametersTest, IsJoystickConnected) {
   wpi::sim::DriverStationSim::NotifyNewData();
 
   ASSERT_EQ(std::get<3>(GetParam()),
-            wpi::DriverStation::IsJoystickConnected(1));
+            wpi::internal::DriverStationBackend::IsJoystickConnected(1));
 }
 
 INSTANTIATE_TEST_SUITE_P(IsConnectedTests, IsJoystickConnectedParametersTest,
@@ -47,14 +46,16 @@ TEST_P(JoystickConnectionWarningTest, JoystickConnectionWarnings) {
   // Set FMS and Silence settings
   wpi::sim::DriverStationSim::SetFmsAttached(std::get<0>(GetParam()));
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::DriverStation::SilenceJoystickConnectionWarning(std::get<1>(GetParam()));
+  wpi::internal::DriverStationBackend::SilenceJoystickConnectionWarning(
+      std::get<1>(GetParam()));
 
   // Create joystick and attempt to retrieve button.
   wpi::Joystick joystick(0);
   joystick.GetRawButton(1);
 
   wpi::sim::StepTiming(1_s);
-  EXPECT_EQ(wpi::DriverStation::IsJoystickConnectionWarningSilenced(),
+  EXPECT_EQ(wpi::internal::DriverStationBackend::
+                IsJoystickConnectionWarningSilenced(),
             std::get<2>(GetParam()));
   EXPECT_EQ(::testing::internal::GetCapturedStderr().substr(
                 0, std::get<3>(GetParam()).size()),

wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

@@ -7,7 +7,9 @@
 #include <gtest/gtest.h>
 
 #include "callback_helpers/TestCallbackHelpers.hpp"
-#include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/driverstation/MatchState.hpp"
+#include "wpi/driverstation/RobotState.hpp"
+#include "wpi/driverstation/internal/DriverStationBackend.hpp"
 #include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/HAL.h"
 
@@ -18,7 +20,7 @@ TEST(DriverStationTest, Enabled) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(DriverStation::IsEnabled());
+  EXPECT_FALSE(RobotState::IsEnabled());
   BooleanCallback callback;
   auto cb =
       DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false);
@@ -26,7 +28,7 @@ TEST(DriverStationTest, Enabled) {
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
   EXPECT_TRUE(DriverStationSim::GetEnabled());
-  EXPECT_TRUE(DriverStation::IsEnabled());
+  EXPECT_TRUE(RobotState::IsEnabled());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_TRUE(callback.GetLastValue());
 }
@@ -35,15 +37,15 @@ TEST(DriverStationTest, AutonomousMode) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(DriverStation::IsAutonomous());
+  EXPECT_FALSE(RobotState::IsAutonomous());
   EnumCallback callback;
   auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
                                                         false);
   DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS);
   DriverStationSim::NotifyNewData();
   EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_AUTONOMOUS);
-  EXPECT_TRUE(DriverStation::IsAutonomous());
-  EXPECT_EQ(DriverStation::GetRobotMode(), RobotMode::AUTONOMOUS);
+  EXPECT_TRUE(RobotState::IsAutonomous());
+  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::AUTONOMOUS);
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_AUTONOMOUS);
 }
@@ -52,15 +54,15 @@ TEST(DriverStationTest, Mode) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(DriverStation::IsTest());
+  EXPECT_FALSE(RobotState::IsTest());
   EnumCallback callback;
   auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
                                                         false);
   DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
   DriverStationSim::NotifyNewData();
   EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_TEST);
-  EXPECT_TRUE(DriverStation::IsTest());
-  EXPECT_EQ(DriverStation::GetRobotMode(), RobotMode::TEST);
+  EXPECT_TRUE(RobotState::IsTest());
+  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::TEST);
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_TEST);
 }
@@ -69,14 +71,14 @@ TEST(DriverStationTest, Estop) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(DriverStation::IsEStopped());
+  EXPECT_FALSE(RobotState::IsEStopped());
   BooleanCallback callback;
   auto cb =
       DriverStationSim::RegisterEStopCallback(callback.GetCallback(), false);
   DriverStationSim::SetEStop(true);
   DriverStationSim::NotifyNewData();
   EXPECT_TRUE(DriverStationSim::GetEStop());
-  EXPECT_TRUE(DriverStation::IsEStopped());
+  EXPECT_TRUE(RobotState::IsEStopped());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_TRUE(callback.GetLastValue());
 }
@@ -85,14 +87,14 @@ TEST(DriverStationTest, FmsAttached) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(DriverStation::IsFMSAttached());
+  EXPECT_FALSE(RobotState::IsFMSAttached());
   BooleanCallback callback;
   auto cb = DriverStationSim::RegisterFmsAttachedCallback(
       callback.GetCallback(), false);
   DriverStationSim::SetFmsAttached(true);
   DriverStationSim::NotifyNewData();
   EXPECT_TRUE(DriverStationSim::GetFmsAttached());
-  EXPECT_TRUE(DriverStation::IsFMSAttached());
+  EXPECT_TRUE(RobotState::IsFMSAttached());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_TRUE(callback.GetLastValue());
 }
@@ -100,21 +102,21 @@ TEST(DriverStationTest, FmsAttached) {
 TEST(DriverStationTest, DsAttached) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
-  DriverStation::RefreshData();
+  wpi::internal::DriverStationBackend::RefreshData();
 
   EXPECT_FALSE(DriverStationSim::GetDsAttached());
-  EXPECT_FALSE(DriverStation::IsDSAttached());
+  EXPECT_FALSE(RobotState::IsDSAttached());
   DriverStationSim::NotifyNewData();
   EXPECT_TRUE(DriverStationSim::GetDsAttached());
-  EXPECT_TRUE(DriverStation::IsDSAttached());
+  EXPECT_TRUE(RobotState::IsDSAttached());
 
   BooleanCallback callback;
   auto cb = DriverStationSim::RegisterDsAttachedCallback(callback.GetCallback(),
                                                          false);
   DriverStationSim::SetDsAttached(false);
-  DriverStation::RefreshData();
+  wpi::internal::DriverStationBackend::RefreshData();
   EXPECT_FALSE(DriverStationSim::GetDsAttached());
-  EXPECT_FALSE(DriverStation::IsDSAttached());
+  EXPECT_FALSE(RobotState::IsDSAttached());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_FALSE(callback.GetLastValue());
 }
@@ -136,8 +138,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_FALSE(DriverStation::GetAlliance().has_value());
-  EXPECT_FALSE(DriverStation::GetLocation().has_value());
+  EXPECT_FALSE(MatchState::GetAlliance().has_value());
+  EXPECT_FALSE(MatchState::GetLocation().has_value());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -146,8 +148,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
-  EXPECT_EQ(1, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
+  EXPECT_EQ(1, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -156,8 +158,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
-  EXPECT_EQ(2, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
+  EXPECT_EQ(2, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -166,8 +168,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::BLUE, DriverStation::GetAlliance());
-  EXPECT_EQ(3, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::BLUE, MatchState::GetAlliance());
+  EXPECT_EQ(3, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -176,8 +178,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
-  EXPECT_EQ(1, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
+  EXPECT_EQ(1, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -186,8 +188,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
-  EXPECT_EQ(2, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
+  EXPECT_EQ(2, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 
@@ -196,8 +198,8 @@ TEST(DriverStationTest, AllianceStationId) {
   DriverStationSim::SetAllianceStationId(allianceStation);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
-  EXPECT_EQ(DriverStation::Alliance::RED, DriverStation::GetAlliance());
-  EXPECT_EQ(3, DriverStation::GetLocation());
+  EXPECT_EQ(Alliance::RED, MatchState::GetAlliance());
+  EXPECT_EQ(3, MatchState::GetLocation());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(allianceStation, callback.GetLastValue());
 }
@@ -208,7 +210,7 @@ TEST(DriverStationTest, ReplayNumber) {
 
   DriverStationSim::SetReplayNumber(4);
   DriverStationSim::NotifyNewData();
-  EXPECT_EQ(4, DriverStation::GetReplayNumber());
+  EXPECT_EQ(4, MatchState::GetReplayNumber());
 }
 
 TEST(DriverStationTest, MatchNumber) {
@@ -217,7 +219,7 @@ TEST(DriverStationTest, MatchNumber) {
 
   DriverStationSim::SetMatchNumber(3);
   DriverStationSim::NotifyNewData();
-  EXPECT_EQ(3, DriverStation::GetMatchNumber());
+  EXPECT_EQ(3, MatchState::GetMatchNumber());
 }
 
 TEST(DriverStationTest, MatchTime) {
@@ -231,7 +233,7 @@ TEST(DriverStationTest, MatchTime) {
   DriverStationSim::SetMatchTime(kTestTime);
   wpi::sim::DriverStationSim::NotifyNewData();
   EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime());
-  EXPECT_EQ(kTestTime, DriverStation::GetMatchTime().value());
+  EXPECT_EQ(kTestTime, MatchState::GetMatchTime().value());
   EXPECT_TRUE(callback.WasTriggered());
   EXPECT_EQ(kTestTime, callback.GetLastValue());
 }
@@ -243,7 +245,7 @@ TEST(DriverStationTest, SetGameData) {
   constexpr auto message = "Hello";
   DriverStationSim::SetGameData(message);
   DriverStationSim::NotifyNewData();
-  auto gameData = DriverStation::GetGameData();
+  auto gameData = MatchState::GetGameData();
   ASSERT_TRUE(gameData.has_value());
   EXPECT_EQ(message, gameData.value());
 }
@@ -254,7 +256,7 @@ TEST(DriverStationTest, SetGameDataEmpty) {
 
   DriverStationSim::SetGameData("");
   DriverStationSim::NotifyNewData();
-  auto gameData = DriverStation::GetGameData();
+  auto gameData = MatchState::GetGameData();
   EXPECT_FALSE(gameData.has_value());
 }
 
@@ -265,5 +267,5 @@ TEST(DriverStationTest, SetEventName) {
   constexpr auto message = "The Best Event";
   DriverStationSim::SetEventName(message);
   DriverStationSim::NotifyNewData();
-  EXPECT_EQ(message, DriverStation::GetEventName());
+  EXPECT_EQ(message, MatchState::GetEventName());
 }

wpilibc/src/test/python/test_opmode_robot.py

@@ -3,7 +3,7 @@ import threading
 from wpilib import simulation as wsim
 from wpimath.units import seconds
 from wpilib.opmoderobot import OpModeRobot
-from wpilib import OpMode, DriverStation
+from wpilib import OpMode, RobotState
 from hal._wpiHal import RobotMode
 from wpiutil import Color
 
@@ -55,7 +55,7 @@ def sim_timing_setup():
     wsim.setProgramStarted(False)
     yield
     wsim.resumeTiming()
-    DriverStation.clearOpModes()
+    RobotState.clearOpModes()
 
 
 def test_add_op_mode():