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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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20
wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
View File

@@ -18,14 +18,18 @@ void Robot::RobotPeriodic() {
//
// For example, "RET043" would indicate that the robot is on the red
// alliance, enabled in teleop mode, with 43 seconds left in the match.
auto string = fmt::format(
"{}{}{}{:03}",
frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
? "R"
: "B",
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
std::string allianceString = "U";
auto alliance = frc::DriverStation::GetAlliance();
if (alliance.has_value()) {
allianceString = alliance == frc::DriverStation::Alliance::kRed ? "R" : "B";
}
auto string =
fmt::format("{}{}{}{:03}", allianceString,
frc::DriverStation::IsEnabled() ? "E" : "D",
frc::DriverStation::IsAutonomous() ? "A" : "T",
static_cast<int>(frc::Timer::GetMatchTime().value()));
arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
}

6
wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
View File

@@ -60,6 +60,7 @@ TEST_P(AllianceTest, Alliance) {
case HAL_AllianceStationID_kBlue1:
case HAL_AllianceStationID_kBlue2:
case HAL_AllianceStationID_kBlue3:
case HAL_AllianceStationID_kUnknown:
isRed = false;
break;
case HAL_AllianceStationID_kRed1:
@@ -76,7 +77,8 @@ INSTANTIATE_TEST_SUITE_P(
testing::Values<HAL_AllianceStationID>(
HAL_AllianceStationID_kRed1, HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3, HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3),
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3,
HAL_AllianceStationID_kUnknown),
[](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
switch (info.param) {
case HAL_AllianceStationID_kBlue1:
@@ -91,6 +93,8 @@ INSTANTIATE_TEST_SUITE_P(
return std::string{"Red2"};
case HAL_AllianceStationID_kRed3:
return std::string{"Red3"};
case HAL_AllianceStationID_kUnknown:
return std::string{"Unknown"};
}
return std::string{"Error"};
});

8
wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
View File

@@ -74,6 +74,9 @@ TEST_P(AllianceTest, Alliance) {
case HAL_AllianceStationID_kRed3:
expected = 'R';
break;
case HAL_AllianceStationID_kUnknown:
expected = 'U';
break;
}
EXPECT_EQ(expected, gString.at(0));
}
@@ -83,7 +86,8 @@ INSTANTIATE_TEST_SUITE_P(
testing::Values<HAL_AllianceStationID>(
HAL_AllianceStationID_kRed1, HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3, HAL_AllianceStationID_kBlue1,
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3),
HAL_AllianceStationID_kBlue2, HAL_AllianceStationID_kBlue3,
HAL_AllianceStationID_kUnknown),
[](const testing::TestParamInfo<AllianceTest::ParamType>& info) {
switch (info.param) {
case HAL_AllianceStationID_kBlue1:
@@ -98,6 +102,8 @@ INSTANTIATE_TEST_SUITE_P(
return std::string{"Red2"};
case HAL_AllianceStationID_kRed3:
return std::string{"Red3"};
case HAL_AllianceStationID_kUnknown:
return std::string{"Unknown"};
}
return std::string{"Error"};
});