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

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

@@ -0,0 +1,77 @@
+// 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 <memory>
+
+#include <hal/Types.h>
+#include <wpi/DenseMap.h>
+#include <wpi/mutex.h>
+
+#include "PneumaticsBase.h"
+
+namespace frc {
+class PneumaticsHub : public PneumaticsBase {
+ public:
+  PneumaticsHub();
+  explicit PneumaticsHub(int module);
+
+  ~PneumaticsHub() override = default;
+
+  bool GetCompressor() const override;
+
+  void SetClosedLoopControl(bool enabled) override;
+
+  bool GetClosedLoopControl() const override;
+
+  bool GetPressureSwitch() const override;
+
+  double GetCompressorCurrent() const override;
+
+  void SetSolenoids(int mask, int values) override;
+
+  int GetSolenoids() const override;
+
+  int GetModuleNumber() const override;
+
+  int GetSolenoidDisabledList() const override;
+
+  void FireOneShot(int index) override;
+
+  void SetOneShotDuration(int index, units::second_t duration) override;
+
+  bool CheckSolenoidChannel(int channel) const override;
+
+  int CheckAndReserveSolenoids(int mask) override;
+
+  void UnreserveSolenoids(int mask) override;
+
+  bool ReserveCompressor() override;
+
+  void UnreserveCompressor() override;
+
+  Solenoid MakeSolenoid(int channel) override;
+  DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
+                                    int reverseChannel) override;
+  Compressor MakeCompressor() override;
+
+ private:
+  class DataStore;
+  friend class DataStore;
+  friend class PneumaticsBase;
+  PneumaticsHub(HAL_REVPHHandle handle, int module);
+
+  static std::shared_ptr<PneumaticsBase> GetForModule(int module);
+
+  std::shared_ptr<DataStore> m_dataStore;
+  HAL_REVPHHandle m_handle;
+  int m_module;
+
+  static wpi::mutex m_handleLock;
+  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
+      m_handleMap;
+  static std::weak_ptr<DataStore>& GetDataStore(int module);
+};
+}  // namespace frc

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

@@ -21,6 +21,13 @@ class SensorUtil final {
    */
   static int GetDefaultCTREPCMModule();
 
+  /**
+   * Get the number of the default solenoid module.
+   *
+   * @return The number of the default solenoid module.
+   */
+  static int GetDefaultREVPHModule();
+
   /**
    * Check that the digital channel number is valid.
    *

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

@@ -0,0 +1,214 @@
+// 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 <memory>
+
+#include "frc/PneumaticsBase.h"
+#include "frc/simulation/CallbackStore.h"
+
+namespace frc {
+
+class Compressor;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
+class REVPHSim {
+ public:
+  /**
+   * Constructs with the default PCM module number (CAN ID).
+   */
+  REVPHSim();
+
+  /**
+   * Constructs from a PCM module number (CAN ID).
+   *
+   * @param module module number
+   */
+  explicit REVPHSim(int module);
+
+  explicit REVPHSim(const PneumaticsBase& pneumatics);
+
+  /**
+   * Register a callback to be run when a solenoid is initialized on a channel.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if a solenoid has been initialized on a specific channel.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Define whether a solenoid has been initialized on a specific channel.
+   *
+   * @param channel the channel
+   * @param solenoidInitialized is there a solenoid initialized on that channel
+   */
+  void SetInitialized(bool solenoidInitialized);
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel
+   * changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+      int channel, NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  bool GetSolenoidOutput(int channel) const;
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  void SetSolenoidOutput(int channel, bool solenoidOutput);
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  bool GetCompressorOn() const;
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  void SetCompressorOn(bool compressorOn);
+
+  /**
+   * Register a callback to be run whenever the closed loop state changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore>
+  RegisterClosedLoopEnabledCallback(NotifyCallback callback,
+                                    bool initialNotify);
+
+  /**
+   * Check whether the closed loop compressor control is active.
+   *
+   * @return true if active
+   */
+  bool GetClosedLoopEnabled() const;
+
+  /**
+   * Turn on/off the closed loop control of the compressor.
+   *
+   * @param closedLoopEnabled whether the control loop is active
+   */
+  void SetClosedLoopEnabled(bool closedLoopEnabled);
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  bool GetPressureSwitch() const;
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  void SetPressureSwitch(bool pressureSwitch);
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore>
+  RegisterCompressorCurrentCallback(NotifyCallback callback,
+                                    bool initialNotify);
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  double GetCompressorCurrent() const;
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  void SetCompressorCurrent(double compressorCurrent);
+
+  /**
+   * Get the current value of all solenoid outputs.
+   *
+   * @return the solenoid outputs (1 bit per output)
+   */
+  uint8_t GetAllSolenoidOutputs() const;
+
+  /**
+   * Change all of the solenoid outputs.
+   *
+   * @param outputs the new solenoid outputs (1 bit per output)
+   */
+  void SetAllSolenoidOutputs(uint8_t outputs);
+
+  /**
+   * Reset all simulation data for this object.
+   */
+  void ResetData();
+
+ private:
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc