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wpilibc/src/main/native/include/wpi/simulation/SimDeviceSim.hpp

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+// 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.
+
+#pragma once
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <hal/SimDevice.h>
+#include <hal/simulation/SimDeviceData.h>
+
+namespace frc::sim {
+
+/**
+ * Class to control the simulation side of a SimDevice.
+ */
+class SimDeviceSim {
+ public:
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param name name of the SimDevice
+   */
+  explicit SimDeviceSim(const char* name);
+
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param name name of the SimDevice
+   * @param index device index number to append to name
+   */
+  SimDeviceSim(const char* name, int index);
+
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param name name of the SimDevice
+   * @param index device index number to append to name
+   * @param channel device channel number to append to name
+   */
+  SimDeviceSim(const char* name, int index, int channel);
+
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param handle the low level handle for the corresponding SimDevice.
+   */
+  explicit SimDeviceSim(HAL_SimDeviceHandle handle);
+
+  /**
+   * Get the name of this object.
+   *
+   * @return name
+   */
+  std::string GetName() const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimValue GetValue(const char* name) const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimInt GetInt(const char* name) const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimLong GetLong(const char* name) const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimDouble GetDouble(const char* name) const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimEnum GetEnum(const char* name) const;
+
+  /**
+   * Get the property object with the given name.
+   *
+   * @param name the property name
+   * @return the property object
+   */
+  hal::SimBoolean GetBoolean(const char* name) const;
+
+  /**
+   * Get all options for the given enum.
+   *
+   * @param val the enum
+   * @return names of the different values for that enum
+   */
+  static std::vector<std::string> GetEnumOptions(hal::SimEnum val);
+
+  /**
+   * Get all properties.
+   *
+   * @param callback callback called for each property (SimValue).  Signature
+   *                 of the callback must be const char*, HAL_SimValueHandle,
+   *                 int, const HAL_Value*
+   */
+  template <typename F>
+  void EnumerateValues(F callback) const {
+    return HALSIM_EnumerateSimValues(
+        m_handle, &callback,
+        [](const char* name, void* param, HAL_SimValueHandle handle,
+           int direction, const struct HAL_Value* value) {
+          std::invoke(*static_cast<F*>(param), name, handle, direction, value);
+        });
+  }
+
+  /**
+   * Get the raw handle of this object.
+   *
+   * @return the handle used to refer to this object
+   */
+  operator HAL_SimDeviceHandle() const { return m_handle; }  // NOLINT
+
+  /**
+   * Get all sim devices with the given prefix.
+   *
+   * @param prefix the prefix to filter sim devices
+   * @param callback callback function to call for each sim device
+   */
+  template <typename F>
+  static void EnumerateDevices(const char* prefix, F callback) {
+    return HALSIM_EnumerateSimDevices(
+        prefix, &callback,
+        [](const char* name, void* param, HAL_SimDeviceHandle handle) {
+          std::invoke(*static_cast<F*>(param), name, handle);
+        });
+  }
+
+  /**
+   * Reset all SimDevice data.
+   */
+  static void ResetData();
+
+ private:
+  HAL_SimDeviceHandle m_handle;
+};
+}  // namespace frc::sim