[wpilib][sim] Add Onboard IMU Sim (#8855)

This provides the ability to simulate parts of the Onboard IMU at the
HAL level. This allows team to use and simulate the IMU in code, and a
follow up PR could be made to the halsim_gui to add a new widget to view
and modify the data graphically.

Since the C++ IMU uses radians for angles that is what I did for the
simulator.

Partially deals with #8845

hal/src/main/native/cpp/jni/simulation/IMUDataJNI.cpp

@@ -0,0 +1,132 @@
+// 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 <jni.h>
+
+#include "org_wpilib_hardware_hal_simulation_IMUDataJNI.h"
+#include "wpi/hal/simulation/IMUData.h"
+
+extern "C" {
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAngleX
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAngleX
+  (JNIEnv*, jclass, jdouble angle)
+{
+  return HALSIM_SetIMUAngleX(angle);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAngleY
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAngleY
+  (JNIEnv*, jclass, jdouble angle)
+{
+  return HALSIM_SetIMUAngleY(angle);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAngleZ
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAngleZ
+  (JNIEnv*, jclass, jdouble angle)
+{
+  return HALSIM_SetIMUAngleZ(angle);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setGyroRateX
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setGyroRateX
+  (JNIEnv*, jclass, jdouble rate)
+{
+  return HALSIM_SetIMUGyroRateX(rate);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setGyroRateY
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setGyroRateY
+  (JNIEnv*, jclass, jdouble rate)
+{
+  return HALSIM_SetIMUGyroRateY(rate);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setGyroRateZ
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setGyroRateZ
+  (JNIEnv*, jclass, jdouble rate)
+{
+  return HALSIM_SetIMUGyroRateZ(rate);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAccelX
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAccelX
+  (JNIEnv*, jclass, jdouble accel)
+{
+  return HALSIM_SetIMUAccelX(accel);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAccelY
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAccelY
+  (JNIEnv*, jclass, jdouble accel)
+{
+  return HALSIM_SetIMUAccelY(accel);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setAccelZ
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setAccelZ
+  (JNIEnv*, jclass, jdouble accel)
+{
+  return HALSIM_SetIMUAccelZ(accel);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_IMUDataJNI
+ * Method:    setYaw
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_IMUDataJNI_setYaw
+  (JNIEnv*, jclass, jdouble angle)
+{
+  return HALSIM_SetIMUYaw(angle);
+}
+
+}  // extern "C"