commit a8806733737439eef10c49f44c2bd874194c9e62
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 14 19:45:35 2020 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 14 20:00:33 2020 -0800
tree 199704e8df06d0db3c157f9cefe2c499ac7996c1
parent 8e63a257d9773500b29e7fa56e4947a7ca92c009

Add more FMS data to JoystickState

Specifically:
-Add a more generica game-data string so that we don't have to add new
 fields every year.
-Add the current alliance color.

Change-Id: Ic422ccaf1cddd448176dc59618e9f9a3d008ea23

aos/robot_state/joystick_state.fbs

diff --git a/aos/robot_state/joystick_state.fbs b/aos/robot_state/joystick_state.fbs
index f21b211..1deaa06 100644
--- a/aos/robot_state/joystick_state.fbs
+++ b/aos/robot_state/joystick_state.fbs
@@ -12,6 +12,8 @@
   pov:int;
 }
 
+enum Alliance : byte { kRed, kBlue, kInvalid }
+
 // This message is checked by all control loops to make sure that the
 // joystick code hasn't died.  It is published on "/aos"
 table JoystickState {
@@ -36,6 +38,12 @@
   // useful for testing. The only difference in behavior should be motors not
   // actually turning on.
   fake:bool;
+
+  // Color of our current alliance.
+  alliance:Alliance;
+
+  // String corresponding to the game data string
+  game_data:string;
 }
 
 root_type JoystickState;

frc971/wpilib/joystick_sender.cc

diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index c614cfe..d31d4a5 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -67,6 +67,18 @@
             joysticks_offset = builder.fbb()->CreateVector(joysticks.begin(),
                                                            joysticks.size());
 
+        flatbuffers::Offset<flatbuffers::String> game_data_offset;
+        if (status == 0) {
+          static_assert(sizeof(match_info.gameSpecificMessage) == 64,
+                        "Check that the match info game specific message size "
+                        "hasn't changed and is still sane.");
+          CHECK_LE(match_info.gameSpecificMessageSize,
+                   sizeof(match_info.gameSpecificMessage));
+          game_data_offset = builder.fbb()->CreateString(
+              reinterpret_cast<const char *>(match_info.gameSpecificMessage),
+              match_info.gameSpecificMessageSize);
+        }
+
         aos::JoystickState::Builder joystick_state_builder =
             builder.MakeBuilder<aos::JoystickState>();
 
@@ -79,12 +91,24 @@
           joystick_state_builder.add_scale_left(
               match_info.gameSpecificMessage[1] == 'L' ||
               match_info.gameSpecificMessage[1] == 'l');
+          joystick_state_builder.add_game_data(game_data_offset);
         }
 
         joystick_state_builder.add_test_mode(ds->IsTestMode());
         joystick_state_builder.add_fms_attached(ds->IsFmsAttached());
         joystick_state_builder.add_enabled(ds->IsEnabled());
         joystick_state_builder.add_autonomous(ds->IsAutonomous());
+        switch (ds->GetAlliance()) {
+          case frc::DriverStation::kRed:
+            joystick_state_builder.add_alliance(aos::Alliance::kRed);
+            break;
+          case frc::DriverStation::kBlue:
+            joystick_state_builder.add_alliance(aos::Alliance::kBlue);
+            break;
+          case frc::DriverStation::kInvalid:
+            joystick_state_builder.add_alliance(aos::Alliance::kInvalid);
+            break;
+        }
         joystick_state_builder.add_team_id(team_id_);
 
         if (!builder.Send(joystick_state_builder.Finish())) {