[hal, wpilibj] Add missing distance per pulse functions to EncoderSim (#4928)

Also fix C++ and Java EncoderSim.setDistancePerPulse() not propagating value to SimEncoderData.

hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java

@@ -79,6 +79,15 @@ public class EncoderDataJNI extends JNIWrapper {
 
   public static native void setSamplesToAverage(int index, int samplesToAverage);
 
+  public static native int registerDistancePerPulseCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelDistancePerPulseCallback(int index, int uid);
+
+  public static native double getDistancePerPulse(int index);
+
+  public static native void setDistancePerPulse(int index, double distancePerPulse);
+
   public static native void setDistance(int index, double distance);
 
   public static native double getDistance(int index);

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

@@ -412,6 +412,56 @@ Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setSamplesToAverage
   HALSIM_SetEncoderSamplesToAverage(index, value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method:    registerDistancePerPulseCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerDistancePerPulseCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterEncoderDistancePerPulseCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method:    cancelDistancePerPulseCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelDistancePerPulseCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelEncoderDistancePerPulseCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method:    getDistancePerPulse
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getDistancePerPulse
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetEncoderDistancePerPulse(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method:    setDistancePerPulse
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setDistancePerPulse
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetEncoderDistancePerPulse(index, value);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_EncoderDataJNI
  * Method:    setDistance

hal/src/main/native/sim/Encoder.cpp

@@ -363,7 +363,7 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
     return 0.0;
   }
 
-  return encoder->distancePerPulse;
+  return SimEncoderData[encoder->index].distancePerPulse;
 }
 
 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(

wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp

@@ -198,7 +198,7 @@ TEST(EncoderSimTest, SetDistancePerPulse) {
   DoubleCallback callback;
   auto cb = sim.RegisterDistancePerPulseCallback(callback.GetCallback(), false);
 
-  encoder.SetDistancePerPulse(.03405);
+  sim.SetDistancePerPulse(.03405);
   EXPECT_EQ(.03405, sim.GetDistancePerPulse());
   EXPECT_EQ(.03405, encoder.GetDistancePerPulse());
   EXPECT_TRUE(callback.WasTriggered());

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java

@@ -303,6 +303,38 @@ public class EncoderSim {
     EncoderDataJNI.setSamplesToAverage(m_index, samplesToAverage);
   }
 
+  /**
+   * Register a callback on the distance per pulse value of this encoder.
+   *
+   * @param callback the callback that will be called whenever the distance per pulse is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerDistancePerPulseCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = EncoderDataJNI.registerDistancePerPulseCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, EncoderDataJNI::cancelDistancePerPulseCallback);
+  }
+
+  /**
+   * Get the distance per pulse value.
+   *
+   * @return the distance per pulse value
+   */
+  public double getDistancePerPulse() {
+    return EncoderDataJNI.getDistancePerPulse(m_index);
+  }
+
+  /**
+   * Set the distance per pulse value.
+   *
+   * @param samplesToAverage the new value
+   */
+  public void setDistancePerPulse(double samplesToAverage) {
+    EncoderDataJNI.setDistancePerPulse(m_index, samplesToAverage);
+  }
+
   /**
    * Change the encoder distance.
    *

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/EncoderSimTest.java

@@ -89,4 +89,23 @@ class EncoderSimTest {
       }
     }
   }
+
+  @Test
+  void testDistancePerPulse() {
+    HAL.initialize(500, 0);
+
+    try (Encoder encoder = new Encoder(0, 1)) {
+      EncoderSim sim = new EncoderSim(encoder);
+      sim.resetData();
+
+      DoubleCallback callback = new DoubleCallback();
+      try (CallbackStore cb = sim.registerDistancePerPulseCallback(callback, false)) {
+        sim.setDistancePerPulse(0.03405);
+        assertEquals(0.03405, sim.getDistancePerPulse());
+        assertEquals(0.03405, encoder.getDistancePerPulse());
+        assertTrue(callback.wasTriggered());
+        assertEquals(0.03405, callback.getSetValue());
+      }
+    }
+  }
 }