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

wpilibc/src/main/native/include/frc/ADXL345_I2C.h

@@ -46,6 +46,9 @@ class ADXL345_I2C : public Accelerometer,
   ADXL345_I2C(ADXL345_I2C&&) = default;
   ADXL345_I2C& operator=(ADXL345_I2C&&) = default;
 
+  I2C::Port GetI2CPort() const;
+  int GetI2CDeviceAddress() const;
+
   // Accelerometer interface
   void SetRange(Range range) final;
   double GetX() override;

wpilibc/src/main/native/include/frc/ADXL345_SPI.h

@@ -44,6 +44,8 @@ class ADXL345_SPI : public Accelerometer,
   ADXL345_SPI(ADXL345_SPI&&) = default;
   ADXL345_SPI& operator=(ADXL345_SPI&&) = default;
 
+  SPI::Port GetSpiPort() const;
+
   // Accelerometer interface
   void SetRange(Range range) final;
   double GetX() override;

wpilibc/src/main/native/include/frc/ADXL362.h

@@ -50,6 +50,8 @@ class ADXL362 : public Accelerometer,
   ADXL362(ADXL362&&) = default;
   ADXL362& operator=(ADXL362&&) = default;
 
+  SPI::Port GetSpiPort() const;
+
   // Accelerometer interface
   void SetRange(Range range) final;
   double GetX() override;

wpilibc/src/main/native/include/frc/I2C.h

@@ -33,6 +33,9 @@ class I2C {
   I2C(I2C&&) = default;
   I2C& operator=(I2C&&) = default;
 
+  Port GetPort() const;
+  int GetDeviceAddress() const;
+
   /**
    * Generic transaction.
    *

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

@@ -40,6 +40,8 @@ class SPI {
   SPI(SPI&&) = default;
   SPI& operator=(SPI&&) = default;
 
+  Port GetPort() const;
+
   /**
    * Configure the rate of the generated clock signal.
    *

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

@@ -90,6 +90,8 @@ class Ultrasonic : public wpi::Sendable,
   Ultrasonic(Ultrasonic&&) = default;
   Ultrasonic& operator=(Ultrasonic&&) = default;
 
+  int GetEchoChannel() const;
+
   /**
    * Single ping to ultrasonic sensor.
    *

wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h

@@ -0,0 +1,57 @@
+// 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 <hal/SimDevice.h>
+
+namespace frc {
+
+class ADXL345_SPI;
+class ADXL345_I2C;
+
+namespace sim {
+
+/**
+ * Class to control a simulated ADXRS450 gyroscope.
+ */
+class ADXL345Sim {
+ public:
+  /**
+   * Constructs from a ADXL345_I2C object.
+   *
+   * @param ADXL345 accel to simulate
+   */
+  explicit ADXL345Sim(const ADXL345_I2C& accel);
+
+  /**
+   * Constructs from a ADXL345_SPI object.
+   *
+   * @param ADXL345 accel to simulate
+   */
+  explicit ADXL345Sim(const ADXL345_SPI& accel);
+
+  /**
+   * Sets the X acceleration.
+   */
+  void SetX(double accel);
+
+  /**
+   * Sets the Y acceleration.
+   */
+  void SetY(double accel);
+
+  /**
+   * Sets the Z acceleration.
+   */
+  void SetZ(double accel);
+
+ private:
+  hal::SimDouble m_simX;
+  hal::SimDouble m_simY;
+  hal::SimDouble m_simZ;
+};
+
+}  // namespace sim
+}  // namespace frc

wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h

@@ -0,0 +1,49 @@
+// 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 <hal/SimDevice.h>
+
+namespace frc {
+
+class ADXL362;
+
+namespace sim {
+
+/**
+ * Class to control a simulated ADXRS450 gyroscope.
+ */
+class ADXL362Sim {
+ public:
+  /**
+   * Constructs from a ADXL362 object.
+   *
+   * @param ADXL362 accel to simulate
+   */
+  explicit ADXL362Sim(const ADXL362& accel);
+
+  /**
+   * Sets the X acceleration.
+   */
+  void SetX(double accel);
+
+  /**
+   * Sets the Y acceleration.
+   */
+  void SetY(double accel);
+
+  /**
+   * Sets the Z acceleration.
+   */
+  void SetZ(double accel);
+
+ private:
+  hal::SimDouble m_simX;
+  hal::SimDouble m_simY;
+  hal::SimDouble m_simZ;
+};
+
+}  // namespace sim
+}  // namespace frc

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

@@ -0,0 +1,48 @@
+// 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 <hal/SimDevice.h>
+#include <units/length.h>
+
+namespace frc {
+
+class Ultrasonic;
+
+namespace sim {
+
+/**
+ * Class to control a simulated ADXRS450 gyroscope.
+ */
+class UltrasonicSim {
+ public:
+  /**
+   * Constructs from a ADXRS450_Gyro object.
+   *
+   * @param gyro ADXRS450_Gyro to simulate
+   */
+  explicit UltrasonicSim(const Ultrasonic& gyro);
+
+  /**
+   * Sets if the range measurement is valid.
+   *
+   * @param valid True if valid
+   */
+  void SetRangeValid(bool isValid);
+
+  /**
+   * Sets the range measurement
+   *
+   * @param rate The range
+   */
+  void SetRange(units::meter_t range);
+
+ private:
+  hal::SimBoolean m_simRangeValid;
+  hal::SimDouble m_simRange;
+};
+
+}  // namespace sim
+}  // namespace frc