[hal] Add GetTeamNumber (#5596)

hal/src/main/native/athena/HAL.cpp

@@ -47,6 +47,8 @@ static char roboRioCommentsString[64];
 static size_t roboRioCommentsStringSize;
 static bool roboRioCommentsStringInitialized;
 
+static int32_t teamNumber = -1;
+
 static const volatile HAL_HMBData* hmbBuffer;
 #define HAL_HMB_TIMESTAMP_OFFSET 5
 
@@ -353,6 +355,36 @@ size_t HAL_GetComments(char* buffer, size_t size) {
   return toCopy;
 }
 
+void InitializeTeamNumber(void) {
+  char hostnameBuf[25];
+  auto status = gethostname(hostnameBuf, sizeof(hostnameBuf));
+  if (status != 0) {
+    teamNumber = 0;
+    return;
+  }
+
+  std::string_view hostname{hostnameBuf, sizeof(hostnameBuf)};
+
+  // hostname is frc-{TEAM}-roborio
+  // Split string around '-' (max of 2 splits), take the second element of the
+  // resulting array.
+  wpi::SmallVector<std::string_view> elements;
+  wpi::split(hostname, elements, "-", 2);
+  if (elements.size() < 3) {
+    teamNumber = 0;
+    return;
+  }
+
+  teamNumber = wpi::parse_integer<int32_t>(elements[1], 10).value_or(0);
+}
+
+int32_t HAL_GetTeamNumber(void) {
+  if (teamNumber == -1) {
+    InitializeTeamNumber();
+  }
+  return teamNumber;
+}
+
 uint64_t HAL_GetFPGATime(int32_t* status) {
   hal::init::CheckInit();
   if (!hmbBuffer) {

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -29,6 +29,7 @@ DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
 DEFINE_CAPI(double, BrownoutVoltage, 6.75)
 DEFINE_CAPI(double, CPUTemp, 45.0)
+DEFINE_CAPI(int32_t, TeamNumber, 0);
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

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

@@ -484,6 +484,18 @@ Java_edu_wpi_first_hal_HALUtil_getComments
   return MakeJString(env, std::string_view(comments, len));
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HALUtil
+ * Method:    getTeamNumber
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_HALUtil_getTeamNumber
+  (JNIEnv* env, jclass)
+{
+  return HAL_GetTeamNumber();
+}
+
 /*
  * Class:     edu_wpi_first_hal_HALUtil
  * Method:    getFPGATime

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

@@ -878,6 +878,56 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setCPUTemp
   HALSIM_SetRoboRioCPUTemp(cpuTemp);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    registerTeamNumberCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerTeamNumberCallback
+  (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify, &HALSIM_RegisterRoboRioTeamNumberCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    cancelTeamNumberCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelTeamNumberCallback
+  (JNIEnv* env, jclass, jint handle)
+{
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelRoboRioTeamNumberCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getTeamNumber
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getTeamNumber
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetRoboRioTeamNumber();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setTeamNumber
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setTeamNumber
+  (JNIEnv*, jclass, jint value)
+{
+  HALSIM_SetRoboRioTeamNumber(value);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    getSerialNumber

hal/src/main/native/include/hal/HALBase.h

@@ -92,6 +92,12 @@ size_t HAL_GetSerialNumber(char* buffer, size_t size);
  */
 size_t HAL_GetComments(char* buffer, size_t size);
 
+/**
+ * Returns the team number configured for the robot controller.
+ * @return team number, or 0 if not found.
+ */
+int32_t HAL_GetTeamNumber(void);
+
 /**
  * Returns the runtime type of the HAL.
  *

hal/src/main/native/include/hal/simulation/RoboRioData.h

@@ -126,6 +126,13 @@ void HALSIM_CancelRoboRioBrownoutVoltageCallback(int32_t uid);
 double HALSIM_GetRoboRioBrownoutVoltage(void);
 void HALSIM_SetRoboRioBrownoutVoltage(double brownoutVoltage);
 
+int32_t HALSIM_RegisterRoboRioTeamNumberCallback(HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioTeamNumberCallback(int32_t uid);
+int32_t HALSIM_GetRoboRioTeamNumber(void);
+void HALSIM_SetRoboRioTeamNumber(int32_t teamNumber);
+
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify);
 void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid);

hal/src/main/native/sim/HAL.cpp

@@ -288,6 +288,10 @@ size_t HAL_GetComments(char* buffer, size_t size) {
   return HALSIM_GetRoboRioComments(buffer, size);
 }
 
+int32_t HAL_GetTeamNumber(void) {
+  return HALSIM_GetRoboRioTeamNumber();
+}
+
 uint64_t HAL_GetFPGATime(int32_t* status) {
   return hal::GetFPGATime();
 }

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -33,6 +33,7 @@ void RoboRioData::ResetData() {
   userFaults3V3.Reset(0);
   brownoutVoltage.Reset(6.75);
   cpuTemp.Reset(45.0);
+  teamNumber.Reset(0);
   m_serialNumber = "";
   m_comments = "";
 }
@@ -134,6 +135,7 @@ DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
 DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
 DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
 DEFINE_CAPI(double, CPUTemp, cpuTemp)
+DEFINE_CAPI(int32_t, TeamNumber, teamNumber)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -31,6 +31,7 @@ class RoboRioData {
   HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
   HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
   HAL_SIMDATAVALUE_DEFINE_NAME(CPUTemp)
+  HAL_SIMDATAVALUE_DEFINE_NAME(TeamNumber)
 
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
   HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Comments);
@@ -59,6 +60,7 @@ class RoboRioData {
   SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
       6.75};
   SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{45.0};
+  SimDataValue<int32_t, HAL_MakeInt, GetTeamNumberName> teamNumber{0};
 
   int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
                                        void* param, HAL_Bool initialNotify);