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

wpilibc/src/test/native/cpp/UltrasonicTest.cpp

@@ -0,0 +1,26 @@
+// 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/Ultrasonic.h"
+#include "frc/simulation/UltrasonicSim.h"
+#include "gtest/gtest.h"
+
+namespace frc {
+
+TEST(UltrasonicTest, SimDevices) {
+  Ultrasonic ultrasonic{0, 1};
+  sim::UltrasonicSim sim{ultrasonic};
+
+  EXPECT_EQ(0, ultrasonic.GetRange().to<double>());
+  EXPECT_TRUE(ultrasonic.IsRangeValid());
+
+  sim.SetRange(units::meter_t{35.04});
+  EXPECT_EQ(35.04, ultrasonic.GetRange().to<double>());
+
+  sim.SetRangeValid(false);
+  EXPECT_FALSE(ultrasonic.IsRangeValid());
+  EXPECT_EQ(0, ultrasonic.GetRange().to<double>());
+}
+
+}  // namespace frc