[wpilib] Add Pneumatics sim classes (#4033)

wpilibc/src/main/native/cpp/simulation/CTREPCMSim.cpp

@@ -14,12 +14,13 @@
 using namespace frc;
 using namespace frc::sim;
 
-CTREPCMSim::CTREPCMSim() : m_index{SensorUtil::GetDefaultCTREPCMModule()} {}
+CTREPCMSim::CTREPCMSim()
+    : PneumaticsBaseSim{SensorUtil::GetDefaultCTREPCMModule()} {}
 
-CTREPCMSim::CTREPCMSim(int module) : m_index{module} {}
+CTREPCMSim::CTREPCMSim(int module) : PneumaticsBaseSim{module} {}
 
 CTREPCMSim::CTREPCMSim(const PneumaticsBase& pneumatics)
-    : m_index{pneumatics.GetModuleNumber()} {}
+    : PneumaticsBaseSim{pneumatics.GetModuleNumber()} {}
 
 std::unique_ptr<CallbackStore> CTREPCMSim::RegisterInitializedCallback(
     NotifyCallback callback, bool initialNotify) {

wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp

@@ -0,0 +1,48 @@
+// 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 "frc/simulation/DoubleSolenoidSim.h"
+
+#include "frc/PneumaticsBase.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+DoubleSolenoidSim::DoubleSolenoidSim(
+    std::shared_ptr<PneumaticsBaseSim> moduleSim, int fwd, int rev)
+    : m_module{std::move(moduleSim)}, m_fwd{fwd}, m_rev{rev} {}
+
+DoubleSolenoidSim::DoubleSolenoidSim(int module, PneumaticsModuleType type,
+                                     int fwd, int rev)
+    : m_module{PneumaticsBaseSim::GetForType(module, type)},
+      m_fwd{fwd},
+      m_rev{rev} {}
+
+DoubleSolenoidSim::DoubleSolenoidSim(PneumaticsModuleType type, int fwd,
+                                     int rev)
+    : m_module{PneumaticsBaseSim::GetForType(
+          PneumaticsBase::GetDefaultForType(type), type)},
+      m_fwd{fwd},
+      m_rev{rev} {}
+
+DoubleSolenoid::Value DoubleSolenoidSim::Get() const {
+  bool fwdState = m_module->GetSolenoidOutput(m_fwd);
+  bool revState = m_module->GetSolenoidOutput(m_rev);
+  if (fwdState && !revState) {
+    return DoubleSolenoid::Value::kForward;
+  } else if (!fwdState && revState) {
+    return DoubleSolenoid::Value::kReverse;
+  } else {
+    return DoubleSolenoid::Value::kOff;
+  }
+}
+
+void DoubleSolenoidSim::Set(DoubleSolenoid::Value output) {
+  m_module->SetSolenoidOutput(m_fwd, output == DoubleSolenoid::Value::kForward);
+  m_module->SetSolenoidOutput(m_rev, output == DoubleSolenoid::Value::kReverse);
+}
+
+std::shared_ptr<PneumaticsBaseSim> DoubleSolenoidSim::GetModuleSim() const {
+  return m_module;
+}

wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp

@@ -0,0 +1,33 @@
+// 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 "frc/simulation/PneumaticsBaseSim.h"
+
+#include "frc/Errors.h"
+#include "frc/PneumaticsModuleType.h"
+#include "frc/simulation/CTREPCMSim.h"
+#include "frc/simulation/REVPHSim.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+PneumaticsBaseSim::PneumaticsBaseSim(int module) : m_index{module} {}
+
+PneumaticsBaseSim::PneumaticsBaseSim(const PneumaticsBase& module)
+    : m_index{module.GetModuleNumber()} {}
+
+std::shared_ptr<PneumaticsBaseSim> PneumaticsBaseSim::GetForType(
+    int module, PneumaticsModuleType type) {
+  switch (type) {
+    case PneumaticsModuleType::REVPH:
+      return std::make_shared<REVPHSim>(module);
+
+    case PneumaticsModuleType::CTREPCM:
+      return std::make_shared<CTREPCMSim>(module);
+
+    default:
+      throw FRC_MakeError(err::InvalidParameter, "{}",
+                          static_cast<int>(module));
+  }
+}

wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp

@@ -14,12 +14,12 @@
 using namespace frc;
 using namespace frc::sim;
 
-REVPHSim::REVPHSim() : m_index{SensorUtil::GetDefaultREVPHModule()} {}
+REVPHSim::REVPHSim() : PneumaticsBaseSim{SensorUtil::GetDefaultREVPHModule()} {}
 
-REVPHSim::REVPHSim(int module) : m_index{module} {}
+REVPHSim::REVPHSim(int module) : PneumaticsBaseSim{module} {}
 
 REVPHSim::REVPHSim(const PneumaticsBase& pneumatics)
-    : m_index{pneumatics.GetModuleNumber()} {}
+    : PneumaticsBaseSim{pneumatics} {}
 
 std::unique_ptr<CallbackStore> REVPHSim::RegisterInitializedCallback(
     NotifyCallback callback, bool initialNotify) {

wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp

@@ -0,0 +1,41 @@
+// 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 "frc/simulation/SolenoidSim.h"
+
+#include "frc/PneumaticsBase.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+SolenoidSim::SolenoidSim(std::shared_ptr<PneumaticsBaseSim> moduleSim,
+                         int channel)
+    : m_module{std::move(moduleSim)}, m_channel{channel} {}
+
+SolenoidSim::SolenoidSim(int module, PneumaticsModuleType type, int channel)
+    : m_module{PneumaticsBaseSim::GetForType(module, type)},
+      m_channel{channel} {}
+
+SolenoidSim::SolenoidSim(PneumaticsModuleType type, int channel)
+    : m_module{PneumaticsBaseSim::GetForType(
+          PneumaticsBase::GetDefaultForType(type), type)},
+      m_channel{channel} {}
+
+bool SolenoidSim::GetOutput() const {
+  return m_module->GetSolenoidOutput(m_channel);
+}
+
+void SolenoidSim::SetOutput(bool output) {
+  m_module->SetSolenoidOutput(m_channel, output);
+}
+
+std::unique_ptr<CallbackStore> SolenoidSim::RegisterOutputCallback(
+    NotifyCallback callback, bool initialNotify) {
+  return m_module->RegisterSolenoidOutputCallback(m_channel, callback,
+                                                  initialNotify);
+}
+
+std::shared_ptr<PneumaticsBaseSim> SolenoidSim::GetModuleSim() const {
+  return m_module;
+}