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[wpilibc] Change DriverStationSim to use wpi::hal::RobotMode (#8988)

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The `RobotState::GetRobotMode()` API returns this enum class, but
`DriverStationSim` was using the `HAL_RobotMode` enum instead. This
commonizes the two APIs to return the same `RobotMode` enum class.

This difference in the APIs also affected Python, as the `hal.RobotMode`
and `hal._wpiHal._RobotMode` types are not compatible with each other.
This commit is contained in:
Benjamin Hall
2026-06-17 16:38:13 -04:00
committed by GitHub
parent 5a7d7d50ee
commit c35df58a81
11 changed files with 29 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
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@@ -15,7 +15,7 @@ class RobotModeTriggersTest : public CommandTestBase {};
TEST(RobotModeTriggersTest, Autonomous) { TEST(RobotModeTriggersTest, Autonomous) {
DriverStationSim::ResetData(); DriverStationSim::ResetData();
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS); DriverStationSim::SetRobotMode(wpi::hal::RobotMode::AUTONOMOUS);
DriverStationSim::SetEnabled(true); DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
Trigger autonomous = RobotModeTriggers::Autonomous(); Trigger autonomous = RobotModeTriggers::Autonomous();
@@ -24,7 +24,7 @@ TEST(RobotModeTriggersTest, Autonomous) {
TEST(RobotModeTriggersTest, Teleop) { TEST(RobotModeTriggersTest, Teleop) {
DriverStationSim::ResetData(); DriverStationSim::ResetData();
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); DriverStationSim::SetRobotMode(wpi::hal::RobotMode::TELEOPERATED);
DriverStationSim::SetEnabled(true); DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
Trigger teleop = RobotModeTriggers::Teleop(); Trigger teleop = RobotModeTriggers::Teleop();
@@ -41,7 +41,7 @@ TEST(RobotModeTriggersTest, Disabled) {
TEST(RobotModeTriggersTest, UtilityMode) { TEST(RobotModeTriggersTest, UtilityMode) {
DriverStationSim::ResetData(); DriverStationSim::ResetData();
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY); DriverStationSim::SetRobotMode(wpi::hal::RobotMode::UTILITY);
DriverStationSim::SetEnabled(true); DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
Trigger test = RobotModeTriggers::Utility(); Trigger test = RobotModeTriggers::Utility();

8
wpilibc/src/main/native/cpp/simulation/DriverStationSim.cpp
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@@ -42,12 +42,12 @@ std::unique_ptr<CallbackStore> DriverStationSim::RegisterRobotModeCallback(
return store; return store;
} }
HAL_RobotMode DriverStationSim::GetRobotMode() { hal::RobotMode DriverStationSim::GetRobotMode() {
return HALSIM_GetDriverStationRobotMode(); return static_cast<hal::RobotMode>(HALSIM_GetDriverStationRobotMode());
} }
void DriverStationSim::SetRobotMode(HAL_RobotMode robotMode) { void DriverStationSim::SetRobotMode(hal::RobotMode robotMode) {
HALSIM_SetDriverStationRobotMode(robotMode); HALSIM_SetDriverStationRobotMode(static_cast<HAL_RobotMode>(robotMode));
} }
std::unique_ptr<CallbackStore> DriverStationSim::RegisterEStopCallback( std::unique_ptr<CallbackStore> DriverStationSim::RegisterEStopCallback(

6
wpilibc/src/main/native/include/wpi/simulation/DriverStationSim.hpp
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@@ -9,7 +9,7 @@
#include <memory> #include <memory>
#include "wpi/driverstation/internal/DriverStationBackend.hpp" #include "wpi/driverstation/internal/DriverStationBackend.hpp"
#include "wpi/hal/DriverStationTypes.h" #include "wpi/hal/DriverStationTypes.hpp"
#include "wpi/hal/simulation/DriverStationData.h" #include "wpi/hal/simulation/DriverStationData.h"
#include "wpi/simulation/CallbackStore.hpp" #include "wpi/simulation/CallbackStore.hpp"
@@ -91,14 +91,14 @@ class DriverStationSim {
* *
* @return robot mode * @return robot mode
*/ */
static HAL_RobotMode GetRobotMode(); static hal::RobotMode GetRobotMode();
/** /**
* Change the robot mode set by the DS. * Change the robot mode set by the DS.
* *
* @param robotMode the new value * @param robotMode the new value
*/ */
static void SetRobotMode(HAL_RobotMode robotMode); static void SetRobotMode(hal::RobotMode robotMode);
/** /**
* Register a callback on the eStop state. * Register a callback on the eStop state.

2
wpilibc/src/main/python/wpilib/testing/controller.py
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@@ -12,7 +12,7 @@ from ..simulation import (
stepTimingAsync, stepTimingAsync,
getProgramStarted, getProgramStarted,
) )
from hal._wpiHal import _RobotMode as RobotMode from hal import RobotMode
class RobotTestController: class RobotTestController:

2
wpilibc/src/main/python/wpilib/testing/pytest_plugin.py
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@@ -5,9 +5,9 @@ import weakref
import pytest import pytest
from hal import RobotMode
import hal import hal
import hal.simulation import hal.simulation
from hal._wpiHal import _RobotMode as RobotMode
import ntcore import ntcore
import wpilib import wpilib
from wpilib.simulation import DriverStationSim, pauseTiming, restartTiming from wpilib.simulation import DriverStationSim, pauseTiming, restartTiming

12
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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@@ -165,7 +165,7 @@ TEST_F(TimedRobotTest, AutonomousMode) {
wpi::sim::WaitForProgramStart(); wpi::sim::WaitForProgramStart();
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::AUTONOMOUS);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(1u, robot.m_simulationInitCount); EXPECT_EQ(1u, robot.m_simulationInitCount);
@@ -237,7 +237,7 @@ TEST_F(TimedRobotTest, TeleopMode) {
wpi::sim::WaitForProgramStart(); wpi::sim::WaitForProgramStart();
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(1u, robot.m_simulationInitCount); EXPECT_EQ(1u, robot.m_simulationInitCount);
@@ -308,7 +308,7 @@ TEST_F(TimedRobotTest, UtilityMode) {
wpi::sim::WaitForProgramStart(); wpi::sim::WaitForProgramStart();
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::UTILITY);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(1u, robot.m_simulationInitCount); EXPECT_EQ(1u, robot.m_simulationInitCount);
@@ -429,7 +429,7 @@ TEST_F(TimedRobotTest, ModeChange) {
// Transition to autonomous // Transition to autonomous
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::AUTONOMOUS);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
wpi::sim::StepTiming(kPeriod); wpi::sim::StepTiming(kPeriod);
@@ -446,7 +446,7 @@ TEST_F(TimedRobotTest, ModeChange) {
// Transition to teleop // Transition to teleop
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
wpi::sim::StepTiming(kPeriod); wpi::sim::StepTiming(kPeriod);
@@ -463,7 +463,7 @@ TEST_F(TimedRobotTest, ModeChange) {
// Transition to utility // Transition to utility
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY); wpi::sim::DriverStationSim::SetRobotMode(hal::RobotMode::UTILITY);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
wpi::sim::StepTiming(kPeriod); wpi::sim::StepTiming(kPeriod);

10
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
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@@ -24,7 +24,7 @@ TEST(DriverStationTest, Enabled) {
BooleanCallback callback; BooleanCallback callback;
auto cb = auto cb =
DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false); DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); DriverStationSim::SetRobotMode(RobotMode::TELEOPERATED);
DriverStationSim::SetEnabled(true); DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetEnabled()); EXPECT_TRUE(DriverStationSim::GetEnabled());
@@ -41,9 +41,9 @@ TEST(DriverStationTest, AutonomousMode) {
EnumCallback callback; EnumCallback callback;
auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(), auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
false); false);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_AUTONOMOUS); DriverStationSim::SetRobotMode(RobotMode::AUTONOMOUS);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_AUTONOMOUS); EXPECT_EQ(DriverStationSim::GetRobotMode(), RobotMode::AUTONOMOUS);
EXPECT_TRUE(RobotState::IsAutonomous()); EXPECT_TRUE(RobotState::IsAutonomous());
EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::AUTONOMOUS); EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::AUTONOMOUS);
EXPECT_TRUE(callback.WasTriggered()); EXPECT_TRUE(callback.WasTriggered());
@@ -58,9 +58,9 @@ TEST(DriverStationTest, Mode) {
EnumCallback callback; EnumCallback callback;
auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(), auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
false); false);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY); DriverStationSim::SetRobotMode(RobotMode::UTILITY);
DriverStationSim::NotifyNewData(); DriverStationSim::NotifyNewData();
EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_UTILITY); EXPECT_EQ(DriverStationSim::GetRobotMode(), RobotMode::UTILITY);
EXPECT_TRUE(RobotState::IsUtility()); EXPECT_TRUE(RobotState::IsUtility());
EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::UTILITY); EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::UTILITY);
EXPECT_TRUE(callback.WasTriggered()); EXPECT_TRUE(callback.WasTriggered());

2
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
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@@ -56,7 +56,7 @@ TEST_P(ArmSimulationTest, Teleop) {
// teleop init // teleop init
{ {
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); wpi::sim::DriverStationSim::SetRobotMode(wpi::hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();

2
wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
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@@ -52,7 +52,7 @@ class ElevatorSimulationTest : public testing::Test {
TEST_F(ElevatorSimulationTest, Teleop) { TEST_F(ElevatorSimulationTest, Teleop) {
// teleop init // teleop init
{ {
wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TELEOPERATED); wpi::sim::DriverStationSim::SetRobotMode(wpi::hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::SetEnabled(true); wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();

3
wpilibcExamples/src/test/cpp/snippets/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
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@@ -122,7 +122,8 @@ class AutonomousTest : public DigitalCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) { TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam(); auto autonomous = GetParam();
wpi::sim::DriverStationSim::SetRobotMode( wpi::sim::DriverStationSim::SetRobotMode(
autonomous ? HAL_ROBOT_MODE_AUTONOMOUS : HAL_ROBOT_MODE_TELEOPERATED); autonomous ? wpi::hal::RobotMode::AUTONOMOUS
: wpi::hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(autonomousOutput.GetInitialized()); EXPECT_TRUE(autonomousOutput.GetInitialized());

3
wpilibcExamples/src/test/cpp/snippets/I2CCommunication/cpp/I2CCommunicationTest.cpp
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@@ -132,7 +132,8 @@ class AutonomousTest : public I2CCommunicationTest<bool> {};
TEST_P(AutonomousTest, Autonomous) { TEST_P(AutonomousTest, Autonomous) {
auto autonomous = GetParam(); auto autonomous = GetParam();
wpi::sim::DriverStationSim::SetRobotMode( wpi::sim::DriverStationSim::SetRobotMode(
autonomous ? HAL_ROBOT_MODE_AUTONOMOUS : HAL_ROBOT_MODE_TELEOPERATED); autonomous ? wpi::hal::RobotMode::AUTONOMOUS
: wpi::hal::RobotMode::TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData(); wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(port)); EXPECT_TRUE(HALSIM_GetI2CInitialized(port));