[hal, wpilib] Add REV PneumaticsHub (#3600)

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

@@ -0,0 +1,139 @@
+// 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/REVPHSim.h"
+
+#include <memory>
+#include <utility>
+
+#include <hal/simulation/REVPHData.h>
+
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+REVPHSim::REVPHSim() : m_index{SensorUtil::GetDefaultREVPHModule()} {}
+
+REVPHSim::REVPHSim(int module) : m_index{module} {}
+
+REVPHSim::REVPHSim(const PneumaticsBase& pneumatics)
+    : m_index{pneumatics.GetModuleNumber()} {}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterInitializedCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHInitializedCallback);
+  store->SetUid(HALSIM_RegisterREVPHInitializedCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetInitialized() const {
+  return HALSIM_GetREVPHInitialized(m_index);
+}
+
+void REVPHSim::SetInitialized(bool solenoidInitialized) {
+  HALSIM_SetREVPHInitialized(m_index, solenoidInitialized);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterSolenoidOutputCallback(
+    int channel, NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, channel, -1, callback,
+      &HALSIM_CancelREVPHSolenoidOutputCallback);
+  store->SetUid(HALSIM_RegisterREVPHSolenoidOutputCallback(
+      m_index, channel, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetSolenoidOutput(int channel) const {
+  return HALSIM_GetREVPHSolenoidOutput(m_index, channel);
+}
+
+void REVPHSim::SetSolenoidOutput(int channel, bool solenoidOutput) {
+  HALSIM_SetREVPHSolenoidOutput(m_index, channel, solenoidOutput);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorOnCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorOnCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorOnCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetCompressorOn() const {
+  return HALSIM_GetREVPHCompressorOn(m_index);
+}
+
+void REVPHSim::SetCompressorOn(bool compressorOn) {
+  HALSIM_SetREVPHCompressorOn(m_index, compressorOn);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterClosedLoopEnabledCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+  store->SetUid(HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetClosedLoopEnabled() const {
+  return HALSIM_GetREVPHClosedLoopEnabled(m_index);
+}
+
+void REVPHSim::SetClosedLoopEnabled(bool closedLoopEnabled) {
+  HALSIM_SetREVPHClosedLoopEnabled(m_index, closedLoopEnabled);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterPressureSwitchCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHPressureSwitchCallback);
+  store->SetUid(HALSIM_RegisterREVPHPressureSwitchCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetPressureSwitch() const {
+  return HALSIM_GetREVPHPressureSwitch(m_index);
+}
+
+void REVPHSim::SetPressureSwitch(bool pressureSwitch) {
+  HALSIM_SetREVPHPressureSwitch(m_index, pressureSwitch);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorCurrentCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorCurrentCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorCurrentCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double REVPHSim::GetCompressorCurrent() const {
+  return HALSIM_GetREVPHCompressorCurrent(m_index);
+}
+
+void REVPHSim::SetCompressorCurrent(double compressorCurrent) {
+  HALSIM_SetREVPHCompressorCurrent(m_index, compressorCurrent);
+}
+
+uint8_t REVPHSim::GetAllSolenoidOutputs() const {
+  uint8_t ret = 0;
+  HALSIM_GetREVPHAllSolenoids(m_index, &ret);
+  return ret;
+}
+
+void REVPHSim::SetAllSolenoidOutputs(uint8_t outputs) {
+  HALSIM_SetREVPHAllSolenoids(m_index, outputs);
+}
+
+void REVPHSim::ResetData() {
+  HALSIM_ResetREVPHData(m_index);
+}