[wpilib] Add DutyCycleEncoderSim (#2798)

wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp

@@ -58,6 +58,8 @@ void DutyCycleEncoder::Init() {
 
   if (m_simDevice) {
     m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
+    m_simDistancePerRotation =
+        m_simDevice.CreateDouble("DistancePerRotation", false, 1.0);
     m_simIsConnected = m_simDevice.CreateBoolean("Connected", false, true);
   } else {
     m_analogTrigger = std::make_unique<AnalogTrigger>(m_dutyCycle.get());
@@ -98,6 +100,7 @@ units::turn_t DutyCycleEncoder::Get() const {
 
 void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
   m_distancePerRotation = distancePerRotation;
+  m_simDistancePerRotation.Set(distancePerRotation);
 }
 
 double DutyCycleEncoder::GetDistancePerRotation() const {
@@ -129,6 +132,10 @@ void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
   m_frequencyThreshold = frequency;
 }
 
+int DutyCycleEncoder::GetSourceChannel() const {
+  return m_dutyCycle->GetSourceChannel();
+}
+
 void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("AbsoluteEncoder");
   builder.AddDoubleProperty(

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

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/simulation/DutyCycleEncoderSim.h"
+
+#include <wpi/SmallString.h>
+#include <wpi/raw_ostream.h>
+
+#include "frc/DutyCycleEncoder.h"
+#include "frc/simulation/SimDeviceSim.h"
+
+using namespace frc::sim;
+
+DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
+  wpi::SmallString<128> fullname;
+  wpi::raw_svector_ostream os(fullname);
+  os << "DutyCycleEncoder" << '[' << encoder.GetSourceChannel() << ']';
+  frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
+  m_simPosition = deviceSim.GetDouble("Position");
+  m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");
+}
+
+void DutyCycleEncoderSim::Set(units::turn_t turns) {
+  m_simPosition.Set(turns.to<double>());
+}
+
+void DutyCycleEncoderSim::SetDistance(double distance) {
+  m_simPosition.Set(distance / m_simDistancePerRotation.Get());
+}

wpilibc/src/main/native/include/frc/DutyCycleEncoder.h

@@ -154,6 +154,13 @@ class DutyCycleEncoder : public ErrorBase,
    */
   double GetDistance() const;
 
+  /**
+   * Get the channel of the source.
+   *
+   * @return the source channel
+   */
+  int GetSourceChannel() const;
+
   void InitSendable(SendableBuilder& builder) override;
 
  private:
@@ -169,6 +176,7 @@ class DutyCycleEncoder : public ErrorBase,
 
   hal::SimDevice m_simDevice;
   hal::SimDouble m_simPosition;
+  hal::SimDouble m_simDistancePerRotation;
   hal::SimBoolean m_simIsConnected;
 };
 }  // namespace frc

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

@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/angle.h>
+
+namespace frc {
+
+class DutyCycleEncoder;
+
+namespace sim {
+
+/**
+ * Class to control a simulated duty cycle encoder.
+ */
+class DutyCycleEncoderSim {
+ public:
+  /**
+   * Constructs from a DutyCycleEncoder object.
+   *
+   * @param dutyCycleEncoder DutyCycleEncoder to simulate
+   */
+  explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);
+
+  /**
+   * Set the position tin turns.
+   *
+   * @param turns The position.
+   */
+  void Set(units::turn_t turns);
+
+  /**
+   * Set the position.
+   */
+  void SetDistance(double distance);
+
+ private:
+  hal::SimDouble m_simPosition;
+  hal::SimDouble m_simDistancePerRotation;
+};
+
+}  // namespace sim
+}  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java

@@ -32,6 +32,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
 
   protected SimDevice m_simDevice;
   protected SimDouble m_simPosition;
+  protected SimDouble m_simDistancePerRotation;
   protected SimBoolean m_simIsConnected;
 
   /**
@@ -72,6 +73,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
 
     if (m_simDevice != null) {
       m_simPosition = m_simDevice.createDouble("Position", false, 0.0);
+      m_simDistancePerRotation = m_simDevice.createDouble("DistancePerRotation", false, 1.0);
       m_simIsConnected = m_simDevice.createBoolean("Connected", false, true);
     } else {
       m_counter = new Counter();
@@ -140,6 +142,10 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
    */
   public void setDistancePerRotation(double distancePerRotation) {
     m_distancePerRotation = distancePerRotation;
+
+    if (m_simDistancePerRotation != null) {
+      m_simDistancePerRotation.set(distancePerRotation);
+    }
   }
 
   /**
@@ -230,6 +236,15 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     }
   }
 
+  /**
+   * Get the channel of the source.
+   *
+   * @return the source channel
+   */
+  public int getSourceChannel() {
+    return m_dutyCycle.getSourceChannel();
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("AbsoluteEncoder");

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

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+
+/**
+ * Class to control a simulated duty cycle encoder.
+ */
+public class DutyCycleEncoderSim {
+  private final SimDouble m_simPosition;
+  private final SimDouble m_simDistancePerRotation;
+
+  /**
+   * Constructs from an DutyCycleEncoder object.
+   *
+   * @param encoder DutyCycleEncoder to simulate
+   */
+  public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
+    m_simPosition = wrappedSimDevice.getDouble("Position");
+    m_simDistancePerRotation = wrappedSimDevice.getDouble("DistancePerRotation");
+  }
+
+  /**
+   * Set the position in turns.
+   *
+   * @param turns The position.
+   */
+  public void set(double turns) {
+    m_simPosition.set(turns);
+  }
+
+  /**
+   * Set the position.
+   */
+  public void setDistance(double distance) {
+    m_simPosition.set(distance / m_simDistancePerRotation.get());
+  }
+}