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[wpilib] DriverStation: Change alliance station to use optional (#5229)

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Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
This commit is contained in:
Thad House
2023-07-22 15:19:28 -07:00
committed by GitHub
parent ef155438bd
commit fc56f8049a
17 changed files with 179 additions and 86 deletions
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1
hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
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@@ -5,6 +5,7 @@
package edu.wpi.first.hal;
public enum AllianceStationID {
Unknown,
Red1,
Red2,
Red3,

15
hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
View File

@@ -147,12 +147,13 @@ public class DriverStationJNI extends JNIWrapper {
*/
private static native int nativeGetAllianceStation();
public static final int kRed1AllianceStation = 0;
public static final int kRed2AllianceStation = 1;
public static final int kRed3AllianceStation = 2;
public static final int kBlue1AllianceStation = 3;
public static final int kBlue2AllianceStation = 4;
public static final int kBlue3AllianceStation = 5;
public static final int kUnknownAllianceStation = 0;
public static final int kRed1AllianceStation = 1;
public static final int kRed2AllianceStation = 2;
public static final int kRed3AllianceStation = 3;
public static final int kBlue1AllianceStation = 4;
public static final int kBlue2AllianceStation = 5;
public static final int kBlue3AllianceStation = 6;
/**
* Gets the current alliance station ID.
@@ -162,6 +163,8 @@ public class DriverStationJNI extends JNIWrapper {
*/
public static AllianceStationID getAllianceStation() {
switch (nativeGetAllianceStation()) {
case kUnknownAllianceStation:
return AllianceStationID.Unknown;
case kRed1AllianceStation:
return AllianceStationID.Red1;
case kRed2AllianceStation:

22
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -15,7 +15,27 @@
#include "hal/FRCUsageReporting.h"
#include "hal/HALBase.h"
// TODO Static asserts
static_assert(edu_wpi_first_hal_DriverStationJNI_kUnknownAllianceStation ==
HAL_AllianceStationID_kUnknown);
static_assert(edu_wpi_first_hal_DriverStationJNI_kRed1AllianceStation ==
HAL_AllianceStationID_kRed1);
static_assert(edu_wpi_first_hal_DriverStationJNI_kRed2AllianceStation ==
HAL_AllianceStationID_kRed2);
static_assert(edu_wpi_first_hal_DriverStationJNI_kRed3AllianceStation ==
HAL_AllianceStationID_kRed3);
static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue1AllianceStation ==
HAL_AllianceStationID_kBlue1);
static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue2AllianceStation ==
HAL_AllianceStationID_kBlue2);
static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue3AllianceStation ==
HAL_AllianceStationID_kBlue3);
static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickAxes ==
HAL_kMaxJoystickAxes);
static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickPOVs ==
HAL_kMaxJoystickPOVs);
static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoysticks ==
HAL_kMaxJoysticks);
using namespace hal;
using namespace wpi::java;

3
hal/src/main/native/include/hal/DriverStationTypes.h
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@@ -42,6 +42,7 @@ typedef struct HAL_ControlWord HAL_ControlWord;
// clang-format off
HAL_ENUM(HAL_AllianceStationID) {
HAL_AllianceStationID_kUnknown = 0,
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
@@ -51,7 +52,7 @@ HAL_ENUM(HAL_AllianceStationID) {
};
HAL_ENUM(HAL_MatchType) {
HAL_kMatchType_none,
HAL_kMatchType_none = 0,
HAL_kMatchType_practice,
HAL_kMatchType_qualification,
HAL_kMatchType_elimination,