[sim] Add sim wrappers for sensors that use SimDevice (#3517)

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

@@ -0,0 +1,24 @@
+// 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/UltrasonicSim.h"
+
+#include "frc/Ultrasonic.h"
+#include "frc/simulation/SimDeviceSim.h"
+
+using namespace frc::sim;
+
+UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic) {
+  frc::sim::SimDeviceSim deviceSim{"Ultrasonic", ultrasonic.GetEchoChannel()};
+  m_simRangeValid = deviceSim.GetBoolean("Range Valid");
+  m_simRange = deviceSim.GetDouble("Range (in)");
+}
+
+void UltrasonicSim::SetRangeValid(bool isValid) {
+  m_simRangeValid.Set(isValid);
+}
+
+void UltrasonicSim::SetRange(units::meter_t range) {
+  m_simRange.Set(range.to<double>());
+}