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

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