[hal] Add GetTeamNumber (#5596)

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -41,6 +41,10 @@ std::string RobotController::GetComments() {
   return std::string(comments, len);
 }
 
+int32_t RobotController::GetTeamNumber() {
+  return HAL_GetTeamNumber();
+}
+
 uint64_t RobotController::GetFPGATime() {
   int32_t status = 0;
   uint64_t time = HAL_GetFPGATime(&status);

wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp

@@ -301,6 +301,23 @@ void RoboRioSim::SetCPUTemp(units::celsius_t cpuTemp) {
   HALSIM_SetRoboRioCPUTemp(cpuTemp.value());
 }
 
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterTeamNumberCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      -1, callback, &HALSIM_CancelRoboRioTeamNumberCallback);
+  store->SetUid(HALSIM_RegisterRoboRioTeamNumberCallback(
+      &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+int32_t RoboRioSim::GetTeamNumber() {
+  return HALSIM_GetRoboRioTeamNumber();
+}
+
+void RoboRioSim::SetTeamNumber(int32_t teamNumber) {
+  HALSIM_SetRoboRioTeamNumber(teamNumber);
+}
+
 std::string RoboRioSim::GetSerialNumber() {
   char serialNum[9];
   size_t len = HALSIM_GetRoboRioSerialNumber(serialNum, sizeof(serialNum));

wpilibc/src/main/native/include/frc/RobotController.h

@@ -63,6 +63,13 @@ class RobotController {
    */
   static std::string GetComments();
 
+  /**
+   * Returns the team number configured for the robot controller.
+   *
+   * @return team number, or 0 if not found.
+   */
+  static int32_t GetTeamNumber();
+
   /**
    * Read the microsecond-resolution timer on the FPGA.
    *

wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h

@@ -461,6 +461,31 @@ class RoboRioSim {
    */
   static void SetCPUTemp(units::celsius_t cpuTemp);
 
+  /**
+   * Register a callback to be run whenever the team number changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterTeamNumberCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the team number.
+   *
+   * @return the team number.
+   */
+  static int32_t GetTeamNumber();
+
+  /**
+   * Set the team number.
+   *
+   * @param teamNumber the new team number.
+   */
+  static void SetTeamNumber(int32_t teamNumber);
+
   /**
    * Get the serial number.
    *

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

@@ -222,6 +222,21 @@ TEST(RoboRioSimTest, SetCPUTemp) {
   EXPECT_EQ(kCPUTemp, RobotController::GetCPUTemp().value());
 }
 
+TEST(RoboRioSimTest, SetTeamNumber) {
+  RoboRioSim::ResetData();
+
+  IntCallback callback;
+  auto cbHandle =
+      RoboRioSim::RegisterTeamNumberCallback(callback.GetCallback(), false);
+  constexpr int kTeamNumber = 9999;
+
+  RoboRioSim::SetTeamNumber(kTeamNumber);
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_EQ(kTeamNumber, callback.GetLastValue());
+  EXPECT_EQ(kTeamNumber, RoboRioSim::GetTeamNumber());
+  EXPECT_EQ(kTeamNumber, RobotController::GetTeamNumber());
+}
+
 TEST(RoboRioSimTest, SetSerialNumber) {
   const std::string kSerialNum = "Hello";