[sim] Add SendableChooserSim (#6763)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp

@@ -0,0 +1,24 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/simulation/SendableChooserSim.h"
+
+using namespace frc::sim;
+
+SendableChooserSim::SendableChooserSim(std::string_view path)
+    : SendableChooserSim(nt::NetworkTableInstance::GetDefault(), path) {}
+
+SendableChooserSim::SendableChooserSim(nt::NetworkTableInstance inst,
+                                       std::string_view path) {
+  if constexpr (RobotBase::IsSimulation()) {
+    m_publisher =
+        inst.GetStringTopic(fmt::format("{}{}", path, "selected")).Publish();
+  }
+}
+
+void SendableChooserSim::SetSelected(std::string_view option) {
+  if constexpr (RobotBase::IsSimulation()) {
+    m_publisher.Set(option);
+  }
+}

wpilibc/src/main/native/include/frc/simulation/SendableChooserSim.h

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+#include <networktables/NetworkTableInstance.h>
+#include <networktables/StringTopic.h>
+
+#include "frc/RobotBase.h"
+
+namespace frc::sim {
+
+/**
+ * Class that facilitates control of a SendableChooser's selected option in
+ * simulation.
+ */
+class SendableChooserSim {
+ public:
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param path The path where the SendableChooser is published.
+   */
+  explicit SendableChooserSim(std::string_view path);
+
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param inst The NetworkTables instance.
+   * @param path The path where the SendableChooser is published.
+   */
+  SendableChooserSim(nt::NetworkTableInstance inst, std::string_view path);
+
+  /**
+   * Set the selected option.
+   * @param option The option.
+   */
+  void SetSelected(std::string_view option);
+
+ private:
+  nt::StringPublisher m_publisher;
+};
+}  // namespace frc::sim

wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp

@@ -2,6 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <frc/simulation/SendableChooserSim.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
@@ -16,22 +17,18 @@ class SendableChooserTest : public ::testing::TestWithParam<int> {};
 
 TEST_P(SendableChooserTest, ReturnsSelected) {
   frc::SendableChooser<int> chooser;
+  frc::sim::SendableChooserSim chooserSim{
+      fmt::format("/SmartDashboard/ReturnsSelectedChooser{}/", GetParam())};
 
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
   }
   chooser.SetDefaultOption("0", 0);
 
-  auto pub =
-      nt::NetworkTableInstance::GetDefault()
-          .GetStringTopic(fmt::format(
-              "/SmartDashboard/ReturnsSelectedChooser{}/selected", GetParam()))
-          .Publish();
-
   frc::SmartDashboard::PutData(
       fmt::format("ReturnsSelectedChooser{}", GetParam()), &chooser);
   frc::SmartDashboard::UpdateValues();
-  pub.Set(std::to_string(GetParam()));
+  chooserSim.SetSelected(std::to_string(GetParam()));
   frc::SmartDashboard::UpdateValues();
   EXPECT_EQ(GetParam(), chooser.GetSelected());
 }
@@ -62,6 +59,8 @@ TEST(SendableChooserTest,
 
 TEST(SendableChooserTest, ChangeListener) {
   frc::SendableChooser<int> chooser;
+  frc::sim::SendableChooserSim chooserSim{
+      "/SmartDashboard/ChangeListenerChooser/"};
 
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
@@ -71,7 +70,7 @@ TEST(SendableChooserTest, ChangeListener) {
 
   frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
   frc::SmartDashboard::UpdateValues();
-  frc::SmartDashboard::PutString("ChangeListenerChooser/selected", "3");
+  chooserSim.SetSelected("3");
   frc::SmartDashboard::UpdateValues();
 
   EXPECT_EQ(3, currentVal);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SendableChooserSim.java

@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/** Class that facilitates control of a SendableChooser's selected option in simulation. */
+public class SendableChooserSim implements AutoCloseable {
+  private StringPublisher m_publisher;
+
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param path The path where the SendableChooser is published.
+   */
+  public SendableChooserSim(String path) {
+    this(NetworkTableInstance.getDefault(), path);
+  }
+
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param inst The NetworkTables instance.
+   * @param path The path where the SendableChooser is published.
+   */
+  public SendableChooserSim(NetworkTableInstance inst, String path) {
+    if (RobotBase.isSimulation()) {
+      m_publisher = inst.getStringTopic(path + "selected").publish();
+    }
+  }
+
+  @Override
+  public void close() {
+    if (RobotBase.isSimulation()) {
+      m_publisher.close();
+    }
+  }
+
+  /**
+   * Set the selected option.
+   *
+   * @param option The option.
+   */
+  public void setSelected(String option) {
+    if (RobotBase.isSimulation()) {
+      m_publisher.set(option);
+    }
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNull;
 
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.simulation.SendableChooserSim;
 import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
@@ -28,10 +29,9 @@ class SendableChooserTest {
   @ParameterizedTest
   void returnsSelected(int toSelect) {
     try (var chooser = new SendableChooser<Integer>();
-        var publisher =
-            m_inst
-                .getStringTopic("/SmartDashboard/returnsSelectedChooser" + toSelect + "/selected")
-                .publish()) {
+        var chooserSim =
+            new SendableChooserSim(
+                m_inst, "/SmartDashboard/returnsSelectedChooser" + toSelect + "/")) {
       for (int i = 1; i <= 3; i++) {
         chooser.addOption(String.valueOf(i), i);
       }
@@ -39,7 +39,7 @@ class SendableChooserTest {
 
       SmartDashboard.putData("returnsSelectedChooser" + toSelect, chooser);
       SmartDashboard.updateValues();
-      publisher.set(String.valueOf(toSelect));
+      chooserSim.setSelected(String.valueOf(toSelect));
       SmartDashboard.updateValues();
       assertEquals(toSelect, chooser.getSelected());
     }
@@ -70,7 +70,8 @@ class SendableChooserTest {
 
   @Test
   void testChangeListener() {
-    try (var chooser = new SendableChooser<Integer>()) {
+    try (var chooser = new SendableChooser<Integer>();
+        var chooserSim = new SendableChooserSim(m_inst, "/SmartDashboard/changeListenerChooser/")) {
       for (int i = 1; i <= 3; i++) {
         chooser.addOption(String.valueOf(i), i);
       }
@@ -79,7 +80,7 @@ class SendableChooserTest {
 
       SmartDashboard.putData("changeListenerChooser", chooser);
       SmartDashboard.updateValues();
-      SmartDashboard.putString("changeListenerChooser/selected", "3");
+      chooserSim.setSelected("3");
       SmartDashboard.updateValues();
       assertEquals(3, currentVal.get());
     }