Support for non-critical controllers that don't report unplugged warnings, even when FMS is attached

[ArchdukeTim]

Especially with the introduction of SysId routines, it's common to have button bindings that are used only on a practice field / workshop. An easy solution for this is to bind to buttons on an unused controller port, and set the test controller to use that port during testing.

At competition, this means the messages pane is filled with unplugged messages, possible hiding more critical information.

It would be nice if you could mark specific controllers / ports as 'non-critical', and have these warnings hidden if silenceJoystickWarnings = true, even when FMS is connected

[calcmogul]

My concern is teams will abuse that functionality to preemptively disable joystick warnings for all ports. Alerts are a better way to organize faults and declutter the console.

We currently have a function to disable all warnings, but we should get rid of it now that alerts exist and are supported by all major dashboards:
https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/DriverStation.html#silenceJoystickConnectionWarning(boolean)

[chauser]

What we did to avoid this is create a trigger hooked to the presence of the test controller. Only when the controller is plugged in do we bind its buttons, etc. Here's the code:

...imports etc...
class TestBehaviors {
    CommandXboxController m_testerController = 
        new CommandXboxController(DTIConstants.kTesterControllerPort);
    boolean m_buttonsBound = false;
    DriveSubsystem m_drive;
    ArmSubsystem m_arm;
    ShooterSubsystem m_shooter;
   public TestBehaviors(DriveSubsystem drive, 
                           ArmSubsystem arm,
                           ShooterSubsystem shooter) {
        m_drive = drive;
        m_arm = arm;
        m_shooter = shooter;

        // Defer binding the buttons on the test controller until the controller is present.
        // This way, there are no warnings about missing buttons in normal operation, when
        // the test controller is not expected to be connected.

        // Also note: at least in simulation, isConnected() is false until the robot is enabled.
        // On the real robot it seems isConnected is true from the outset so we don't get a
        // false -> true transition to run the command. Therefore, we will test for connection
        // here and bind if connected, otherwise defer to the connection event.
        if (m_testerController.getHID().isConnected()) {
            bindButtons();
        } else {
        new Trigger(m_testerController.getHID()::isConnected)
                    .onTrue(Commands.run(this::bindButtons).ignoringDisable(true));
        }                                
    }

    private void bindButtons() {

        if (m_buttonsBound || !m_testerController.getHID().isConnected()) return;
        m_buttonsBound = true;
        // B button: intake motor test - full speed
        m_testerController.b()
            .whileTrue(m_shooter.runIntake());

        // X button: shooter motor test - full speed
        m_testerController.x()
            .whileTrue(m_shooter.runShooter());

        // Left joystick backward - raise lower arm slowly
        new Trigger(() -> (m_testerController.getLeftY()>0.1))
            .whileTrue(m_arm.moveLowerUp());
        
        // Left joystick forward - lower lower arm slowly
        new Trigger(() -> (m_testerController.getLeftY()<-0.1))
            .whileTrue(m_arm.moveLowerDown());

        // Right joystick backward - raise upper arm slowly
        new Trigger(() -> (m_testerController.getRightY()>0.1))
            .whileTrue(m_arm.moveUpperUp());
   
    ...etc...

    }
}