[wpilib] RobotController: Add isSystemTimeValid() (#5696)

This returns true when the system date/time (wall clock) is valid.

hal/src/main/java/edu/wpi/first/hal/HAL.java

@@ -190,6 +190,14 @@ public final class HAL extends JNIWrapper {
    */
   public static native boolean getRSLState();
 
+  /**
+   * Gets if the system time is valid.
+   *
+   * @return True if the system time is valid, false otherwise
+   * @see "HAL_GetSystemTimeValid"
+   */
+  public static native boolean getSystemTimeValid();
+
   /**
    * Gets a port handle for a specific channel and module.
    *

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

@@ -472,6 +472,12 @@ HAL_Bool HAL_GetRSLState(int32_t* status) {
   return global->readLEDs_RSL(status);
 }
 
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
+  uint8_t timeWasSet = 0;
+  *status = FRC_NetworkCommunication_getTimeWasSet(&timeWasSet);
+  return timeWasSet != 0;
+}
+
 static bool killExistingProgram(int timeout, int mode) {
   // Kill any previous robot programs
   std::fstream fs;

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

@@ -151,6 +151,21 @@ Java_edu_wpi_first_hal_HAL_getRSLState
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HAL
+ * Method:    getSystemTimeValid
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_HAL_getSystemTimeValid
+  (JNIEnv* env, jclass)
+{
+  int32_t status = 0;
+  bool val = HAL_GetSystemTimeValid(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
 /*
  * Class:     edu_wpi_first_hal_HAL
  * Method:    getPortWithModule

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

@@ -186,6 +186,14 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status);
  */
 HAL_Bool HAL_GetRSLState(int32_t* status);
 
+/**
+ * Gets if the system time is valid.
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return True if the system time is valid, false otherwise
+ */
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status);
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  *

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

@@ -336,6 +336,10 @@ HAL_Bool HAL_GetRSLState(int32_t* status) {
   return false;
 }
 
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
+  return true;
+}
+
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   static std::atomic_bool initialized{false};
   static wpi::mutex initializeMutex;

shared/config.gradle

@@ -15,7 +15,7 @@ nativeUtils {
         configureDependencies {
             opencvYear = "frc2023"
             googleTestYear = "frc2023"
-            niLibVersion = "2024.1.0"
+            niLibVersion = "2024.1.1"
             opencvVersion = "4.6.0-5"
             googleTestVersion = "1.12.1-2"
         }

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

@@ -87,6 +87,13 @@ bool RobotController::GetRSLState() {
   return retVal;
 }
 
+bool RobotController::IsSystemTimeValid() {
+  int32_t status = 0;
+  bool retVal = HAL_GetSystemTimeValid(&status);
+  FRC_CheckErrorStatus(status, "IsSystemTimeValid");
+  return retVal;
+}
+
 double RobotController::GetInputVoltage() {
   int32_t status = 0;
   double retVal = HAL_GetVinVoltage(&status);

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

@@ -115,6 +115,13 @@ class RobotController {
    */
   static bool GetRSLState();
 
+  /**
+   * Gets if the system time is valid.
+   *
+   * @return True if the system time is valid, false otherwise
+   */
+  static bool IsSystemTimeValid();
+
   /**
    * Get the input voltage to the robot controller.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java

@@ -121,6 +121,15 @@ public final class RobotController {
     return HAL.getRSLState();
   }
 
+  /**
+   * Gets if the system time is valid.
+   *
+   * @return True if the system time is valid, false otherwise
+   */
+  public static boolean isSystemTimeValid() {
+    return HAL.getSystemTimeValid();
+  }
+
   /**
    * Get the input voltage to the robot controller.
    *