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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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11
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
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@@ -129,6 +129,17 @@ TEST(DriverStationTest, AllianceStationId) {
auto cb = DriverStationSim::RegisterAllianceStationIdCallback(
callback.GetCallback(), false);
// Unknown
allianceStation = HAL_AllianceStationID_kUnknown;
DriverStationSim::SetAllianceStationId(allianceStation);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
EXPECT_FALSE(DriverStation::GetAlliance().has_value());
EXPECT_FALSE(DriverStation::GetLocation().has_value());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(allianceStation, callback.GetLastValue());
// B1
allianceStation = HAL_AllianceStationID_kBlue1;
DriverStationSim::SetAllianceStationId(allianceStation);