HubShiftUtil.java

package frc.robot.util;

// Copyright (c) 2025-2026 Littleton Robotics

// http://github.com/Mechanical-Advantage
//
// Use of this source code is governed by an MIT-style
// license that can be found in the LICENSE file at
// the root directory of this project.

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Timer;

import java.util.Optional;
import java.util.function.Supplier;
import lombok.Setter;

public class HubShiftUtil {
  private static Timer shiftTimer = new Timer();

  @Setter
  private static Supplier<Optional<Boolean>> allianceWinOverride = () -> Optional.empty();

  public static Optional<Boolean> getAllianceWinOverride() {
    return allianceWinOverride.get();
  }

  public static Alliance getFirstActiveAlliance() {
    var alliance = DriverStation.getAlliance().orElse(Alliance.Blue);

    var winOverride = getAllianceWinOverride();
    if (!winOverride.isEmpty()) {
      return winOverride.get()
          ? (alliance == Alliance.Blue ? Alliance.Red : Alliance.Blue)
          : (alliance == Alliance.Blue ? Alliance.Blue : Alliance.Red);
    }

    String message = DriverStation.getGameSpecificMessage();
    if (message.length() > 0) {
      char character = message.charAt(0);
      if (character == 'R') {
        return Alliance.Blue;
      } else if (character == 'B') {
        return Alliance.Red;
      }
    }

    return alliance == Alliance.Blue ? Alliance.Red : Alliance.Blue;
  }

  /** Starts the timer at the beginning of teleop. */
  public static void initialize() {
    shiftTimer.restart();
  }
}