[hal] Implement stub mockdata on RoboRIO (#2575)

This makes it much more user-friendly to use simulation classes without needing
to ifdef for C++ to avoid linker errors or be very careful about construction
to avoid runtime errors in Java.

hal/src/main/native/cpp/jni/simulation/DutyCycleDataJNI.cpp

@@ -0,0 +1,192 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019-2020 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 <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_DutyCycleDataJNI.h"
+#include "hal/simulation/DutyCycleData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_registerInitializedCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterDutyCycleInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_cancelInitializedCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelDutyCycleInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_getInitialized
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetDutyCycleInitialized(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_setInitialized
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetDutyCycleInitialized(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    registerFrequencyCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_registerFrequencyCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterDutyCycleFrequencyCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    cancelFrequencyCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_cancelFrequencyCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelDutyCycleFrequencyCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    getFrequency
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_getFrequency
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetDutyCycleFrequency(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    setFrequency
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_setFrequency
+  (JNIEnv*, jclass, jint index, jint value)
+{
+  HALSIM_SetDutyCycleFrequency(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    registerOutputCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_registerOutputCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterDutyCycleOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    cancelOutputCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_cancelOutputCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelDutyCycleOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    getOutput
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_getOutput
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetDutyCycleOutput(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    setOutput
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_setOutput
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetDutyCycleOutput(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_resetData
+  (JNIEnv*, jclass, jint index)
+{
+  HALSIM_ResetDutyCycleData(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_DutyCycleDataJNI
+ * Method:    findForChannel
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_DutyCycleDataJNI_findForChannel
+  (JNIEnv*, jclass, jint channel)
+{
+  return HALSIM_FindDutyCycleForChannel(channel);
+}
+
+}  // extern "C"