From 7ae8c7b247adcb813c9add90aae0c55c5e5436af Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 24 Oct 2020 20:18:58 -0700
Subject: [PATCH] [sim] Use DutyCycleEncoder FPGA index for sim device number
 (#2803)

The source channel doesn't necessarily correspond with the HALSIM device
index.
---
 wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp       |  4 ++++
 .../main/native/cpp/simulation/DutyCycleEncoderSim.cpp |  2 +-
 wpilibc/src/main/native/include/frc/DutyCycleEncoder.h |  7 +++++++
 .../java/edu/wpi/first/wpilibj/DutyCycleEncoder.java   | 10 ++++++++++
 .../first/wpilibj/simulation/DutyCycleEncoderSim.java  |  2 +-
 5 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index 2028a9f27d..4fc5457b54 100644
--- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -132,6 +132,10 @@ void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
   m_frequencyThreshold = frequency;
 }
 
+int DutyCycleEncoder::GetFPGAIndex() const {
+  return m_dutyCycle->GetFPGAIndex();
+}
+
 int DutyCycleEncoder::GetSourceChannel() const {
   return m_dutyCycle->GetSourceChannel();
 }
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
index dd1c6c3cba..b12f00a59c 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -18,7 +18,7 @@ using namespace frc::sim;
 DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
   wpi::SmallString<128> fullname;
   wpi::raw_svector_ostream os(fullname);
-  os << "DutyCycleEncoder" << '[' << encoder.GetSourceChannel() << ']';
+  os << "DutyCycleEncoder" << '[' << encoder.GetFPGAIndex() << ']';
   frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
   m_simPosition = deviceSim.GetDouble("Position");
   m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");
diff --git a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
index e9d4f44bb2..17b038fe17 100644
--- a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -154,6 +154,13 @@ class DutyCycleEncoder : public ErrorBase,
    */
   double GetDistance() const;
 
+  /**
+   * Get the FPGA index for the DutyCycleEncoder.
+   *
+   * @return the FPGA index
+   */
+  int GetFPGAIndex() const;
+
   /**
    * Get the channel of the source.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index dc6d5c7152..f5bba5eeca 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -236,6 +236,16 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     }
   }
 
+  /**
+   * Get the FPGA index for the DutyCycleEncoder.
+   *
+   * @return the FPGA index
+   */
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public int getFPGAIndex() {
+    return m_dutyCycle.getFPGAIndex();
+  }
+
   /**
    * Get the channel of the source.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
index c7842f16b1..92b08830ef 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
@@ -23,7 +23,7 @@ public class DutyCycleEncoderSim {
    * @param encoder DutyCycleEncoder to simulate
    */
   public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
-    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getFPGAIndex() + "]");
     m_simPosition = wrappedSimDevice.getDouble("Position");
     m_simDistancePerRotation = wrappedSimDevice.getDouble("DistancePerRotation");
   }