[sim] Add SendableChooserSim (#6763)

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

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);
+    }
+  }
+}