Adds JNI Simulator interface and updated Sim API (#1002)

The simulator was generated by https://github.com/ThadHouse/SimulatorGenerator

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -9,6 +9,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
 import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.sim.AnalogInSim;
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.util.AllocationException;
@@ -350,4 +351,8 @@ public class AnalogInput extends SensorBase implements PIDSource, Sendable {
     builder.setSmartDashboardType("Analog Input");
     builder.addDoubleProperty("Value", this::getAverageVoltage, null);
   }
+
+  public AnalogInSim getSimObject() {
+    return new AnalogInSim(m_channel);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java

@@ -9,6 +9,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
 import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.sim.AnalogOutSim;
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
@@ -66,4 +67,8 @@ public class AnalogOutput extends SendableBase implements Sendable {
     builder.setSmartDashboardType("Analog Output");
     builder.addDoubleProperty("Value", this::getVoltage, this::setVoltage);
   }
+
+  public AnalogOutSim getSimObject() {
+    return new AnalogOutSim(m_channel);
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java

@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
 import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
+import edu.wpi.first.wpilibj.sim.AccelerometerSim;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
 /**
@@ -97,4 +98,8 @@ public class BuiltInAccelerometer extends SensorBase implements Accelerometer, S
     builder.addDoubleProperty("Y", this::getY, null);
     builder.addDoubleProperty("Z", this::getZ, null);
   }
+
+  public AccelerometerSim getSimObject() {
+    return new AccelerometerSim();
+  }
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.sim;
+
+import static org.junit.Assert.assertEquals;
+
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.hal.HAL;
+
+public class AnalogInputSimTest {
+  static class DoubleStore {
+    public boolean wasTriggered = false;
+    public boolean wasCorrectType = false;
+    public double setValue = 0;
+  }
+
+  @Test
+  public void testSetCallback() {
+    HAL.initialize(500, 0);
+
+
+    AnalogInput input = new AnalogInput(5);
+
+    AnalogInSim inputSim = input.getSimObject();
+
+    for (double i = 0; i < 5.0; i+=0.1) {
+      inputSim.setVoltage(0);
+
+      assertEquals(input.getVoltage(), 0, 0.001);
+
+      inputSim.setVoltage(i);
+
+      assertEquals(input.getVoltage(), i, 0.001);
+
+    }
+
+
+
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java

@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.sim;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.AnalogOutput;
+import edu.wpi.first.wpilibj.hal.HAL;
+
+public class AnalogOutputSimTest {
+  static class DoubleStore {
+    public boolean wasTriggered = false;
+    public boolean wasCorrectType = false;
+    public double setValue = -1;
+
+    public void reset() {
+      wasCorrectType = false;
+      wasTriggered = false;
+      setValue = -1;
+    }
+  }
+
+  @Test
+  public void testSetCallback() {
+    HAL.initialize(500, 0);
+
+
+    AnalogOutput output = new AnalogOutput(0);
+    output.setVoltage(0.5);
+
+    AnalogOutSim outputSim = output.getSimObject();
+
+    DoubleStore store = new DoubleStore();
+
+    try (CallbackStore cb = outputSim.registerVoltageCallback((s, v) -> {
+      store.wasTriggered = true;
+      store.wasCorrectType = true;
+      store.setValue = v.getDouble();
+    }, false)) {
+      assertFalse(store.wasTriggered);
+
+      for (double i = 0.1; i < 5.0; i+=0.1) {
+        store.reset();
+
+        output.setVoltage(0);
+
+        assertTrue(store.wasTriggered);
+        assertEquals(store.setValue, 0, 0.001);
+
+        store.reset();
+
+        output.setVoltage(i);
+
+        assertTrue(store.wasTriggered);
+        assertEquals(store.setValue, i, 0.001);
+
+      }
+    }
+  }
+}