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wpilibc/src/main/native/include/wpi/simulation/SimHooks.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 <stdint.h>
+
+#include <hal/HALBase.h>
+#include <units/time.h>
+
+namespace frc::sim {
+
+/**
+ * Override the HAL runtime type (simulated/real).
+ *
+ * @param type runtime type
+ */
+void SetRuntimeType(HAL_RuntimeType type);
+
+void WaitForProgramStart();
+
+void SetProgramStarted();
+
+bool GetProgramStarted();
+
+/**
+ * Restart the simulator time.
+ */
+void RestartTiming();
+
+/**
+ * Pause the simulator time.
+ */
+void PauseTiming();
+
+/**
+ * Resume the simulator time.
+ */
+void ResumeTiming();
+
+/**
+ * Check if the simulator time is paused.
+ *
+ * @return true if paused
+ */
+bool IsTimingPaused();
+
+/**
+ * Advance the simulator time and wait for all notifiers to run.
+ *
+ * @param delta the amount to advance (in seconds)
+ */
+void StepTiming(units::second_t delta);
+
+/**
+ * Advance the simulator time and return immediately.
+ *
+ * @param delta the amount to advance (in seconds)
+ */
+void StepTimingAsync(units::second_t delta);
+
+}  // namespace frc::sim