From ef24c1df97e06e0e0b779c7095bac2ba93966907 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 14 Jul 2025 23:45:28 -0700
Subject: [PATCH] [hal] Implement HAL_GetSystemTimeValid on SystemCore (#8051)

---
 hal/src/main/native/systemcore/FRCDriverStation.cpp | 10 ++++++++++
 hal/src/main/native/systemcore/HAL.cpp              |  4 ----
 hal/src/mrc/include/mrc/NtNetComm.h                 |  2 ++
 3 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/hal/src/main/native/systemcore/FRCDriverStation.cpp b/hal/src/main/native/systemcore/FRCDriverStation.cpp
index 37a6f19ff1..564623cf91 100644
--- a/hal/src/main/native/systemcore/FRCDriverStation.cpp
+++ b/hal/src/main/native/systemcore/FRCDriverStation.cpp
@@ -66,6 +66,8 @@ struct SystemServerDriverStation {
   nt::BooleanPublisher hasUserCodePublisher;
   nt::BooleanPublisher hasUserCodeReadyPublisher;
 
+  nt::BooleanSubscriber hasSetWallClockSubscriber;
+
   nt::ProtobufSubscriber<mrc::ControlData> controlDataSubscriber;
   nt::ProtobufSubscriber<mrc::MatchInfo> matchInfoSubscriber;
   nt::StringSubscriber gameSpecificMessageSubscriber;
@@ -119,6 +121,10 @@ struct SystemServerDriverStation {
     consoleLinePublisher =
         ntInst.GetStringTopic(ROBOT_CONSOLE_LINE_PATH).Publish(options);
 
+    hasSetWallClockSubscriber =
+        ntInst.GetBooleanTopic(ROBOT_HAS_SET_WALL_CLOCK_PATH)
+            .Subscribe(false, options);
+
     errorInfoPublisher =
         ntInst.GetProtobufTopic<mrc::ErrorInfo>(ROBOT_ERROR_INFO_PATH)
             .Publish(options);
@@ -643,6 +649,10 @@ HAL_Bool HAL_GetOutputsEnabled(void) {
   return systemServerDs->controlDataSubscriber.Get().ControlWord.WatchdogActive;
 }
 
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
+  return systemServerDs->hasSetWallClockSubscriber.Get(false);
+}
+
 }  // extern "C"
 
 namespace hal {
diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp
index 5e74560f7e..e0db58155c 100644
--- a/hal/src/main/native/systemcore/HAL.cpp
+++ b/hal/src/main/native/systemcore/HAL.cpp
@@ -276,10 +276,6 @@ HAL_Bool HAL_GetRSLState(int32_t* status) {
   return false;
 }
 
-HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
-  return false;
-}
-
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   static std::atomic_bool initialized{false};
   static wpi::mutex initializeMutex;
diff --git a/hal/src/mrc/include/mrc/NtNetComm.h b/hal/src/mrc/include/mrc/NtNetComm.h
index 4806c263ff..363d426573 100644
--- a/hal/src/mrc/include/mrc/NtNetComm.h
+++ b/hal/src/mrc/include/mrc/NtNetComm.h
@@ -15,6 +15,8 @@
 #define ROBOT_MATCH_INFO_PATH (ROBOT_CONTROL_DATA_PREFIX "MatchInfo")
 #define ROBOT_JOYSTICK_DESCRIPTORS_PATH \
   (ROBOT_CONTROL_DATA_PREFIX "JoystickDescriptors/")
+#define ROBOT_HAS_SET_WALL_CLOCK_PATH \
+  (ROBOT_CONTROL_DATA_PREFIX "HasSetWallClock")
 
 #define ROBOT_STATUS_DATA_PREFIX "/Netcomm/Status/"
 #define ROBOT_HAS_USER_CODE_PATH (ROBOT_STATUS_DATA_PREFIX "HasUserCode")