[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);