[wpilib] Add Pneumatics sim classes (#4033)

wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h

@@ -0,0 +1,183 @@
+// 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 <memory>
+
+#include "frc/PneumaticsBase.h"
+#include "frc/PneumaticsModuleType.h"
+#include "frc/simulation/CallbackStore.h"
+
+namespace frc::sim {
+
+class PneumaticsBaseSim {
+ public:
+  virtual ~PneumaticsBaseSim() = default;
+
+  static std::shared_ptr<PneumaticsBaseSim> GetForType(
+      int module, PneumaticsModuleType type);
+
+  /**
+   * Check whether the PCM/PH has been initialized.
+   *
+   * @return true if initialized
+   */
+  virtual bool GetInitialized() const = 0;
+
+  /**
+   * Define whether the PCM/PH has been initialized.
+   *
+   * @param initialized true for initialized
+   */
+  virtual void SetInitialized(bool initialized) = 0;
+
+  /**
+   * Register a callback to be run when the PCM/PH is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterInitializedCallback(NotifyCallback callback, bool initialNotify) = 0;
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  virtual bool GetCompressorOn() const = 0;
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  virtual void SetCompressorOn(bool compressorOn) = 0;
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterCompressorOnCallback(NotifyCallback callback, bool initialNotify) = 0;
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  virtual bool GetSolenoidOutput(int channel) const = 0;
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  virtual void SetSolenoidOutput(int channel, bool solenoidOutput) = 0;
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel
+   * changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterSolenoidOutputCallback(int channel, NotifyCallback callback,
+                                 bool initialNotify) = 0;
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  virtual bool GetPressureSwitch() const = 0;
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  virtual void SetPressureSwitch(bool pressureSwitch) = 0;
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the initial
+   * value
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterPressureSwitchCallback(NotifyCallback callback,
+                                 bool initialNotify) = 0;
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  virtual double GetCompressorCurrent() const = 0;
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  virtual void SetCompressorCurrent(double compressorCurrent) = 0;
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   * Save a reference to this object; it being deconstructed cancels the
+   * callback.
+   */
+  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
+  RegisterCompressorCurrentCallback(NotifyCallback callback,
+                                    bool initialNotify) = 0;
+
+  /**
+   * Get the current value of all solenoid outputs.
+   *
+   * @return the solenoid outputs (1 bit per output)
+   */
+  virtual uint8_t GetAllSolenoidOutputs() const = 0;
+
+  /**
+   * Change all of the solenoid outputs.
+   *
+   * @param outputs the new solenoid outputs (1 bit per output)
+   */
+  virtual void SetAllSolenoidOutputs(uint8_t outputs) = 0;
+
+  /** Reset all simulation data for this object. */
+  virtual void ResetData() = 0;
+
+ protected:
+  const int m_index;
+  explicit PneumaticsBaseSim(const PneumaticsBase& module);
+  explicit PneumaticsBaseSim(const int index);
+};
+
+}  // namespace frc::sim