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

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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14
wpilibjExamples/src/main/java/org/wpilib/snippets/digitalcommunication/Robot.java
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@@ -5,7 +5,9 @@
package org.wpilib.snippets.digitalcommunication;
import java.util.Optional;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Alliance;
import org.wpilib.driverstation.MatchState;
import org.wpilib.driverstation.RobotState;
import org.wpilib.framework.TimedRobot;
import org.wpilib.hardware.discrete.DigitalOutput;
@@ -28,22 +30,22 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
boolean setAlliance = false;
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
Optional<Alliance> alliance = MatchState.getAlliance();
if (alliance.isPresent()) {
setAlliance = alliance.get() == DriverStation.Alliance.RED;
setAlliance = alliance.get() == Alliance.RED;
}
// pull alliance port high if on red alliance, pull low if on blue alliance
m_allianceOutput.set(setAlliance);
// pull enabled port high if enabled, low if disabled
m_enabledOutput.set(DriverStation.isEnabled());
m_enabledOutput.set(RobotState.isEnabled());
// pull auto port high if in autonomous, low if in teleop (or disabled)
m_autonomousOutput.set(DriverStation.isAutonomous());
m_autonomousOutput.set(RobotState.isAutonomous());
// pull alert port high if match time remaining is between 30 and 25 seconds
var matchTime = DriverStation.getMatchTime();
var matchTime = MatchState.getMatchTime();
m_alertOutput.set(matchTime <= 30 && matchTime >= 25);
}

14
wpilibjExamples/src/main/java/org/wpilib/snippets/i2ccommunication/Robot.java
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@@ -5,7 +5,9 @@
package org.wpilib.snippets.i2ccommunication;
import java.util.Optional;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.Alliance;
import org.wpilib.driverstation.MatchState;
import org.wpilib.driverstation.RobotState;
import org.wpilib.framework.TimedRobot;
import org.wpilib.hardware.bus.I2C;
import org.wpilib.hardware.bus.I2C.Port;
@@ -51,16 +53,16 @@ public class Robot extends TimedRobot {
StringBuilder stateMessage = new StringBuilder(6);
String allianceString = "U";
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
Optional<Alliance> alliance = MatchState.getAlliance();
if (alliance.isPresent()) {
allianceString = alliance.get() == DriverStation.Alliance.RED ? "R" : "B";
allianceString = alliance.get() == Alliance.RED ? "R" : "B";
}
stateMessage
.append(allianceString)
.append(DriverStation.isEnabled() ? "E" : "D")
.append(DriverStation.isAutonomous() ? "A" : "T")
.append(String.format("%03d", (int) DriverStation.getMatchTime()));
.append(RobotState.isEnabled() ? "E" : "D")
.append(RobotState.isAutonomous() ? "A" : "T")
.append(String.format("%03d", (int) MatchState.getMatchTime()));
writeString(stateMessage.toString());
}

19
wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java
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@@ -4,7 +4,8 @@
package org.wpilib.templates.educational;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.RobotMode;
@@ -36,23 +37,23 @@ public class EducationalRobot extends RobotBase {
@Override
public void startCompetition() {
// Create an opmode per robot mode
DriverStation.addOpMode(RobotMode.AUTONOMOUS, "Auto");
DriverStation.addOpMode(RobotMode.TELEOPERATED, "Teleop");
DriverStation.addOpMode(RobotMode.TEST, "Test");
DriverStation.publishOpModes();
RobotState.addOpMode(RobotMode.AUTONOMOUS, "Auto");
RobotState.addOpMode(RobotMode.TELEOPERATED, "Teleop");
RobotState.addOpMode(RobotMode.TEST, "Test");
RobotState.publishOpModes();
final ControlWord word = new ControlWord();
DriverStationModeThread modeThread = new DriverStationModeThread(word);
int event = WPIUtilJNI.makeEvent(false, false);
DriverStation.provideRefreshedDataEventHandle(event);
DriverStationBackend.provideRefreshedDataEventHandle(event);
// Tell the DS that the robot is ready to be enabled
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
while (!Thread.currentThread().isInterrupted() && !m_exit) {
DriverStation.refreshControlWordFromCache(word);
DriverStationBackend.refreshControlWordFromCache(word);
modeThread.inControl(word);
if (isDisabled()) {
disabled();
@@ -93,7 +94,7 @@ public class EducationalRobot extends RobotBase {
}
}
DriverStation.removeRefreshedDataEventHandle(event);
DriverStationBackend.removeRefreshedDataEventHandle(event);
modeThread.close();
}

19
wpilibjExamples/src/main/java/org/wpilib/templates/robotbaseskeleton/Robot.java
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@@ -4,7 +4,8 @@
package org.wpilib.templates.robotbaseskeleton;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.RobotMode;
@@ -31,23 +32,23 @@ public class Robot extends RobotBase {
@Override
public void startCompetition() {
// Create an opmode per robot mode
DriverStation.addOpMode(RobotMode.AUTONOMOUS, "Auto");
DriverStation.addOpMode(RobotMode.TELEOPERATED, "Teleop");
DriverStation.addOpMode(RobotMode.TEST, "Test");
DriverStation.publishOpModes();
RobotState.addOpMode(RobotMode.AUTONOMOUS, "Auto");
RobotState.addOpMode(RobotMode.TELEOPERATED, "Teleop");
RobotState.addOpMode(RobotMode.TEST, "Test");
RobotState.publishOpModes();
final ControlWord word = new ControlWord();
DriverStationModeThread modeThread = new DriverStationModeThread(word);
int event = WPIUtilJNI.makeEvent(false, false);
DriverStation.provideRefreshedDataEventHandle(event);
DriverStationBackend.provideRefreshedDataEventHandle(event);
// Tell the DS that the robot is ready to be enabled
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
while (!Thread.currentThread().isInterrupted() && !m_exit) {
DriverStation.refreshControlWordFromCache(word);
DriverStationBackend.refreshControlWordFromCache(word);
modeThread.inControl(word);
if (isDisabled()) {
disabled();
@@ -88,7 +89,7 @@ public class Robot extends RobotBase {
}
}
DriverStation.removeRefreshedDataEventHandle(event);
DriverStationBackend.removeRefreshedDataEventHandle(event);
modeThread.close();
}

19
wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/EducationalRobot.java
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@@ -4,7 +4,8 @@
package org.wpilib.templates.romieducational;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.RobotMode;
@@ -36,23 +37,23 @@ public class EducationalRobot extends RobotBase {
@Override
public void startCompetition() {
// Create an opmode per robot mode
DriverStation.addOpMode(RobotMode.AUTONOMOUS, "Auto");
DriverStation.addOpMode(RobotMode.TELEOPERATED, "Teleop");
DriverStation.addOpMode(RobotMode.TEST, "Test");
DriverStation.publishOpModes();
RobotState.addOpMode(RobotMode.AUTONOMOUS, "Auto");
RobotState.addOpMode(RobotMode.TELEOPERATED, "Teleop");
RobotState.addOpMode(RobotMode.TEST, "Test");
RobotState.publishOpModes();
final ControlWord word = new ControlWord();
DriverStationModeThread modeThread = new DriverStationModeThread(word);
int event = WPIUtilJNI.makeEvent(false, false);
DriverStation.provideRefreshedDataEventHandle(event);
DriverStationBackend.provideRefreshedDataEventHandle(event);
// Tell the DS that the robot is ready to be enabled
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
while (!Thread.currentThread().isInterrupted() && !m_exit) {
DriverStation.refreshControlWordFromCache(word);
DriverStationBackend.refreshControlWordFromCache(word);
modeThread.inControl(word);
if (isDisabled()) {
disabled();
@@ -93,7 +94,7 @@ public class EducationalRobot extends RobotBase {
}
}
DriverStation.removeRefreshedDataEventHandle(event);
DriverStationBackend.removeRefreshedDataEventHandle(event);
modeThread.close();
}

19
wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/EducationalRobot.java
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@@ -4,7 +4,8 @@
package org.wpilib.templates.xrpeducational;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.RobotState;
import org.wpilib.driverstation.internal.DriverStationBackend;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.RobotMode;
@@ -36,23 +37,23 @@ public class EducationalRobot extends RobotBase {
@Override
public void startCompetition() {
// Create an opmode per robot mode
DriverStation.addOpMode(RobotMode.AUTONOMOUS, "Auto");
DriverStation.addOpMode(RobotMode.TELEOPERATED, "Teleop");
DriverStation.addOpMode(RobotMode.TEST, "Test");
DriverStation.publishOpModes();
RobotState.addOpMode(RobotMode.AUTONOMOUS, "Auto");
RobotState.addOpMode(RobotMode.TELEOPERATED, "Teleop");
RobotState.addOpMode(RobotMode.TEST, "Test");
RobotState.publishOpModes();
final ControlWord word = new ControlWord();
DriverStationModeThread modeThread = new DriverStationModeThread(word);
int event = WPIUtilJNI.makeEvent(false, false);
DriverStation.provideRefreshedDataEventHandle(event);
DriverStationBackend.provideRefreshedDataEventHandle(event);
// Tell the DS that the robot is ready to be enabled
DriverStation.observeUserProgramStarting();
DriverStationBackend.observeUserProgramStarting();
while (!Thread.currentThread().isInterrupted() && !m_exit) {
DriverStation.refreshControlWordFromCache(word);
DriverStationBackend.refreshControlWordFromCache(word);
modeThread.inControl(word);
if (isDisabled()) {
disabled();
@@ -93,7 +94,7 @@ public class EducationalRobot extends RobotBase {
}
}
DriverStation.removeRefreshedDataEventHandle(event);
DriverStationBackend.removeRefreshedDataEventHandle(event);
modeThread.close();
}

4
wpilibjExamples/src/test/java/org/wpilib/snippets/i2ccommunication/I2CCommunicationTest.java
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@@ -17,7 +17,7 @@ import org.junit.jupiter.api.parallel.ResourceLock;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
import org.junit.jupiter.params.provider.ValueSource;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.MatchState;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.RobotMode;
@@ -126,7 +126,7 @@ class I2CCommunicationTest {
SimHooks.stepTiming(0.02);
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
String expected = String.format("%03d", (int) DriverStation.getMatchTime());
String expected = String.format("%03d", (int) MatchState.getMatchTime());
assertEquals(expected, str.substring(3));
}