[wpilib] Add Pneumatics sim classes (#4033)

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CTREPCMSim.java

@@ -6,17 +6,15 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.CTREPCMDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
-import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.SensorUtil;
 
 /** Class to control a simulated Pneumatic Control Module (PCM). */
 @SuppressWarnings("AbbreviationAsWordInName")
-public class CTREPCMSim {
-  private final int m_index;
-
+public class CTREPCMSim extends PneumaticsBaseSim {
   /** Constructs for the default PCM. */
   public CTREPCMSim() {
-    m_index = SensorUtil.getDefaultCTREPCMModule();
+    super(SensorUtil.getDefaultCTREPCMModule());
   }
 
   /**
@@ -25,129 +23,16 @@ public class CTREPCMSim {
    * @param module module number
    */
   public CTREPCMSim(int module) {
-    m_index = module;
+    super(module);
   }
 
   /**
-   * Constructs from a Compressor object.
+   * Constructs from a PneumaticsControlModule object.
    *
    * @param module PCM module to simulate
    */
-  public CTREPCMSim(PneumaticsBase module) {
-    m_index = module.getModuleNumber();
-  }
-
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerSolenoidOutputCallback(
-      int channel, NotifyCallback callback, boolean initialNotify) {
-    int uid =
-        CTREPCMDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
-    return new CallbackStore(m_index, channel, uid, CTREPCMDataJNI::cancelSolenoidOutputCallback);
-  }
-
-  /**
-   * Check the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @return the solenoid output
-   */
-  public boolean getSolenoidOutput(int channel) {
-    return CTREPCMDataJNI.getSolenoidOutput(m_index, channel);
-  }
-
-  /**
-   * Change the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @param solenoidOutput the new solenoid output
-   */
-  public void setSolenoidOutput(int channel, boolean solenoidOutput) {
-    CTREPCMDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
-  }
-
-  /**
-   * Register a callback to be run when the compressor 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = CTREPCMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelInitializedCallback);
-  }
-
-  /**
-   * Check whether the compressor has been initialized.
-   *
-   * @return true if initialized
-   */
-  public boolean getInitialized() {
-    return CTREPCMDataJNI.getInitialized(m_index);
-  }
-
-  /**
-   * Define whether the compressor has been initialized.
-   *
-   * @param initialized whether the compressor is initialized
-   */
-  public void setInitialized(boolean initialized) {
-    CTREPCMDataJNI.setInitialized(m_index, initialized);
-  }
-
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerCompressorOnCallback(
-      NotifyCallback callback, boolean initialNotify) {
-    int uid = CTREPCMDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelCompressorOnCallback);
-  }
-
-  /**
-   * Check if the compressor is on.
-   *
-   * @return true if the compressor is active
-   */
-  public boolean getCompressorOn() {
-    return CTREPCMDataJNI.getCompressorOn(m_index);
-  }
-
-  /**
-   * Set whether the compressor is active.
-   *
-   * @param compressorOn the new value
-   */
-  public void setCompressorOn(boolean compressorOn) {
-    CTREPCMDataJNI.setCompressorOn(m_index, compressorOn);
-  }
-
-  /**
-   * Register a callback to be run whenever the closed loop state 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerClosedLoopEnabledCallback(
-      NotifyCallback callback, boolean initialNotify) {
-    int uid = CTREPCMDataJNI.registerClosedLoopEnabledCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelClosedLoopEnabledCallback);
+  public CTREPCMSim(PneumaticsControlModule module) {
+    super(module);
   }
 
   /**
@@ -169,70 +54,105 @@ public class CTREPCMSim {
   }
 
   /**
-   * Register a callback to be run whenever the pressure switch value changes.
+   * Register a callback to be run whenever the closed loop state 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 so GC doesn't cancel the callback.
    */
+  public CallbackStore registerClosedLoopEnabledCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = CTREPCMDataJNI.registerClosedLoopEnabledCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelClosedLoopEnabledCallback);
+  }
+
+  @Override
+  public boolean getInitialized() {
+    return CTREPCMDataJNI.getInitialized(m_index);
+  }
+
+  @Override
+  public void setInitialized(boolean initialized) {
+    CTREPCMDataJNI.setInitialized(m_index, initialized);
+  }
+
+  @Override
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = CTREPCMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelInitializedCallback);
+  }
+
+  @Override
+  public boolean getCompressorOn() {
+    return CTREPCMDataJNI.getCompressorOn(m_index);
+  }
+
+  @Override
+  public void setCompressorOn(boolean compressorOn) {
+    CTREPCMDataJNI.setCompressorOn(m_index, compressorOn);
+  }
+
+  @Override
+  public CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = CTREPCMDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelCompressorOnCallback);
+  }
+
+  @Override
+  public boolean getSolenoidOutput(int channel) {
+    return CTREPCMDataJNI.getSolenoidOutput(m_index, channel);
+  }
+
+  @Override
+  public void setSolenoidOutput(int channel, boolean solenoidOutput) {
+    CTREPCMDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
+  }
+
+  @Override
+  public CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        CTREPCMDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
+    return new CallbackStore(m_index, channel, uid, CTREPCMDataJNI::cancelSolenoidOutputCallback);
+  }
+
+  @Override
+  public boolean getPressureSwitch() {
+    return CTREPCMDataJNI.getPressureSwitch(m_index);
+  }
+
+  @Override
+  public void setPressureSwitch(boolean pressureSwitch) {
+    CTREPCMDataJNI.setPressureSwitch(m_index, pressureSwitch);
+  }
+
+  @Override
   public CallbackStore registerPressureSwitchCallback(
       NotifyCallback callback, boolean initialNotify) {
     int uid = CTREPCMDataJNI.registerPressureSwitchCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelPressureSwitchCallback);
   }
 
-  /**
-   * Check the value of the pressure switch.
-   *
-   * @return the pressure switch value
-   */
-  public boolean getPressureSwitch() {
-    return CTREPCMDataJNI.getPressureSwitch(m_index);
+  @Override
+  public double getCompressorCurrent() {
+    return CTREPCMDataJNI.getCompressorCurrent(m_index);
   }
 
-  /**
-   * Set the value of the pressure switch.
-   *
-   * @param pressureSwitch the new value
-   */
-  public void setPressureSwitch(boolean pressureSwitch) {
-    CTREPCMDataJNI.setPressureSwitch(m_index, pressureSwitch);
+  @Override
+  public void setCompressorCurrent(double compressorCurrent) {
+    CTREPCMDataJNI.setCompressorCurrent(m_index, compressorCurrent);
   }
 
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
+  @Override
   public CallbackStore registerCompressorCurrentCallback(
       NotifyCallback callback, boolean initialNotify) {
     int uid = CTREPCMDataJNI.registerCompressorCurrentCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, CTREPCMDataJNI::cancelCompressorCurrentCallback);
   }
 
-  /**
-   * Read the compressor current.
-   *
-   * @return the current of the compressor connected to this module
-   */
-  public double getCompressorCurrent() {
-    return CTREPCMDataJNI.getCompressorCurrent(m_index);
-  }
-
-  /**
-   * Set the compressor current.
-   *
-   * @param compressorCurrent the new compressor current
-   */
-  public void setCompressorCurrent(double compressorCurrent) {
-    CTREPCMDataJNI.setCompressorCurrent(m_index, compressorCurrent);
-  }
-
-  /** Reset all simulation data for this object. */
+  @Override
   public void resetData() {
     CTREPCMDataJNI.resetData(m_index);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DoubleSolenoidSim.java

@@ -0,0 +1,88 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+/** Class to control a simulated {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
+public class DoubleSolenoidSim {
+  private final PneumaticsBaseSim m_module;
+  private final int m_fwd;
+  private final int m_rev;
+
+  /**
+   * Constructs for a solenoid on the given pneumatics module.
+   *
+   * @param moduleSim the PCM the solenoid is connected to.
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(PneumaticsBaseSim moduleSim, int fwd, int rev) {
+    m_module = moduleSim;
+    m_fwd = fwd;
+    m_rev = rev;
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and ID.
+   *
+   * @param module the CAN ID of the pneumatics module the solenoid is connected to.
+   * @param moduleType the module type (PH or PCM)
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(int module, PneumaticsModuleType moduleType, int fwd, int rev) {
+    this(PneumaticsBaseSim.getForType(module, moduleType), fwd, rev);
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and default ID.
+   *
+   * @param moduleType the module type (PH or PCM)
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(PneumaticsModuleType moduleType, int fwd, int rev) {
+    this(PneumaticsBase.getDefaultForType(moduleType), moduleType, fwd, rev);
+  }
+
+  /**
+   * Check the value of the double solenoid output.
+   *
+   * @return the output value of the double solenoid.
+   */
+  public DoubleSolenoid.Value get() {
+    boolean fwdState = m_module.getSolenoidOutput(m_fwd);
+    boolean 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;
+    }
+  }
+
+  /**
+   * Set the value of the double solenoid output.
+   *
+   * @param value The value to set (Off, Forward, Reverse)
+   */
+  public void set(final DoubleSolenoid.Value value) {
+    m_module.setSolenoidOutput(m_fwd, value == DoubleSolenoid.Value.kForward);
+    m_module.setSolenoidOutput(m_rev, value == DoubleSolenoid.Value.kReverse);
+  }
+
+  /**
+   * Get the wrapped {@link PneumaticsBaseSim} object.
+   *
+   * @return the wrapped {@link PneumaticsBaseSim} object.
+   */
+  public PneumaticsBaseSim getModuleSim() {
+    return m_module;
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PneumaticsBaseSim.java

@@ -0,0 +1,171 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+/** Common base class for pneumatics module simulation classes. */
+public abstract class PneumaticsBaseSim {
+  protected final int m_index;
+
+  /**
+   * Get a module sim for a specific type.
+   *
+   * @param module the module number / CAN ID.
+   * @param type the module type.
+   * @return the module object.
+   */
+  public static PneumaticsBaseSim getForType(int module, PneumaticsModuleType type) {
+    switch (type) {
+      case CTREPCM:
+        return new CTREPCMSim(module);
+      case REVPH:
+        return new REVPHSim(module);
+      default:
+        throw new IllegalArgumentException("Unknown module type");
+    }
+  }
+
+  protected PneumaticsBaseSim(int index) {
+    m_index = index;
+  }
+
+  protected PneumaticsBaseSim(PneumaticsBase module) {
+    this(module.getModuleNumber());
+  }
+
+  /**
+   * Check whether the PCM/PH has been initialized.
+   *
+   * @return true if initialized
+   */
+  public abstract boolean getInitialized();
+
+  /**
+   * Define whether the PCM/PH has been initialized.
+   *
+   * @param initialized true for initialized
+   */
+  public abstract void setInitialized(boolean initialized);
+
+  /**
+   * 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 so GC doesn't cancel the callback.
+   */
+  public abstract CallbackStore registerInitializedCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  public abstract boolean getCompressorOn();
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  public abstract void setCompressorOn(boolean compressorOn);
+
+  /**
+   * 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 so GC doesn't cancel the callback.
+   */
+  public abstract CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  public abstract boolean getSolenoidOutput(int channel);
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  public abstract void setSolenoidOutput(int channel, boolean solenoidOutput);
+
+  /**
+   * 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 so GC doesn't cancel the callback.
+   */
+  public abstract CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  public abstract boolean getPressureSwitch();
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  public abstract void setPressureSwitch(boolean pressureSwitch);
+
+  /**
+   * 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 so GC doesn't cancel the callback.
+   */
+  public abstract CallbackStore registerPressureSwitchCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  public abstract double getCompressorCurrent();
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  public abstract void setCompressorCurrent(double compressorCurrent);
+
+  /**
+   * 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 so GC doesn't cancel the callback.
+   */
+  public abstract CallbackStore registerCompressorCurrentCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /** Reset all simulation data for this object. */
+  public abstract void resetData();
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java

@@ -6,17 +6,15 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.REVPHDataJNI;
-import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticHub;
 import edu.wpi.first.wpilibj.SensorUtil;
 
 /** Class to control a simulated PneumaticHub (PH). */
 @SuppressWarnings("AbbreviationAsWordInName")
-public class REVPHSim {
-  private final int m_index;
-
+public class REVPHSim extends PneumaticsBaseSim {
   /** Constructs for the default PH. */
   public REVPHSim() {
-    m_index = SensorUtil.getDefaultREVPHModule();
+    super(SensorUtil.getDefaultREVPHModule());
   }
 
   /**
@@ -25,129 +23,16 @@ public class REVPHSim {
    * @param module module number
    */
   public REVPHSim(int module) {
-    m_index = module;
+    super(module);
   }
 
   /**
-   * Constructs from a Compressor object.
+   * Constructs from a PneumaticHum object.
    *
    * @param module PCM module to simulate
    */
-  public REVPHSim(PneumaticsBase module) {
-    m_index = module.getModuleNumber();
-  }
-
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerSolenoidOutputCallback(
-      int channel, NotifyCallback callback, boolean initialNotify) {
-    int uid =
-        REVPHDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
-    return new CallbackStore(m_index, channel, uid, REVPHDataJNI::cancelSolenoidOutputCallback);
-  }
-
-  /**
-   * Check the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @return the solenoid output
-   */
-  public boolean getSolenoidOutput(int channel) {
-    return REVPHDataJNI.getSolenoidOutput(m_index, channel);
-  }
-
-  /**
-   * Change the solenoid output on a specific channel.
-   *
-   * @param channel the channel to check
-   * @param solenoidOutput the new solenoid output
-   */
-  public void setSolenoidOutput(int channel, boolean solenoidOutput) {
-    REVPHDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
-  }
-
-  /**
-   * Register a callback to be run when the compressor 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = REVPHDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelInitializedCallback);
-  }
-
-  /**
-   * Check whether the compressor has been initialized.
-   *
-   * @return true if initialized
-   */
-  public boolean getInitialized() {
-    return REVPHDataJNI.getInitialized(m_index);
-  }
-
-  /**
-   * Define whether the compressor has been initialized.
-   *
-   * @param initialized whether the compressor is initialized
-   */
-  public void setInitialized(boolean initialized) {
-    REVPHDataJNI.setInitialized(m_index, initialized);
-  }
-
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerCompressorOnCallback(
-      NotifyCallback callback, boolean initialNotify) {
-    int uid = REVPHDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorOnCallback);
-  }
-
-  /**
-   * Check if the compressor is on.
-   *
-   * @return true if the compressor is active
-   */
-  public boolean getCompressorOn() {
-    return REVPHDataJNI.getCompressorOn(m_index);
-  }
-
-  /**
-   * Set whether the compressor is active.
-   *
-   * @param compressorOn the new value
-   */
-  public void setCompressorOn(boolean compressorOn) {
-    REVPHDataJNI.setCompressorOn(m_index, compressorOn);
-  }
-
-  /**
-   * Register a callback to be run whenever the closed loop state 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 so GC doesn't cancel the callback.
-   */
-  public CallbackStore registerCompressorConfigTypeCallback(
-      NotifyCallback callback, boolean initialNotify) {
-    int uid = REVPHDataJNI.registerCompressorConfigTypeCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorConfigTypeCallback);
+  public REVPHSim(PneumaticHub module) {
+    super(module);
   }
 
   /**
@@ -169,70 +54,105 @@ public class REVPHSim {
   }
 
   /**
-   * Register a callback to be run whenever the pressure switch value changes.
+   * Register a callback to be run whenever the closed loop state 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 so GC doesn't cancel the callback.
    */
+  public CallbackStore registerCompressorConfigTypeCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerCompressorConfigTypeCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorConfigTypeCallback);
+  }
+
+  @Override
+  public boolean getInitialized() {
+    return REVPHDataJNI.getInitialized(m_index);
+  }
+
+  @Override
+  public void setInitialized(boolean initialized) {
+    REVPHDataJNI.setInitialized(m_index, initialized);
+  }
+
+  @Override
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelInitializedCallback);
+  }
+
+  @Override
+  public boolean getCompressorOn() {
+    return REVPHDataJNI.getCompressorOn(m_index);
+  }
+
+  @Override
+  public void setCompressorOn(boolean compressorOn) {
+    REVPHDataJNI.setCompressorOn(m_index, compressorOn);
+  }
+
+  @Override
+  public CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorOnCallback);
+  }
+
+  @Override
+  public boolean getSolenoidOutput(int channel) {
+    return REVPHDataJNI.getSolenoidOutput(m_index, channel);
+  }
+
+  @Override
+  public void setSolenoidOutput(int channel, boolean solenoidOutput) {
+    REVPHDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
+  }
+
+  @Override
+  public CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        REVPHDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
+    return new CallbackStore(m_index, channel, uid, REVPHDataJNI::cancelSolenoidOutputCallback);
+  }
+
+  @Override
+  public boolean getPressureSwitch() {
+    return REVPHDataJNI.getPressureSwitch(m_index);
+  }
+
+  @Override
+  public void setPressureSwitch(boolean pressureSwitch) {
+    REVPHDataJNI.setPressureSwitch(m_index, pressureSwitch);
+  }
+
+  @Override
   public CallbackStore registerPressureSwitchCallback(
       NotifyCallback callback, boolean initialNotify) {
     int uid = REVPHDataJNI.registerPressureSwitchCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, REVPHDataJNI::cancelPressureSwitchCallback);
   }
 
-  /**
-   * Check the value of the pressure switch.
-   *
-   * @return the pressure switch value
-   */
-  public boolean getPressureSwitch() {
-    return REVPHDataJNI.getPressureSwitch(m_index);
+  @Override
+  public double getCompressorCurrent() {
+    return REVPHDataJNI.getCompressorCurrent(m_index);
   }
 
-  /**
-   * Set the value of the pressure switch.
-   *
-   * @param pressureSwitch the new value
-   */
-  public void setPressureSwitch(boolean pressureSwitch) {
-    REVPHDataJNI.setPressureSwitch(m_index, pressureSwitch);
+  @Override
+  public void setCompressorCurrent(double compressorCurrent) {
+    REVPHDataJNI.setCompressorCurrent(m_index, compressorCurrent);
   }
 
-  /**
-   * 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 so GC doesn't cancel the callback.
-   */
+  @Override
   public CallbackStore registerCompressorCurrentCallback(
       NotifyCallback callback, boolean initialNotify) {
     int uid = REVPHDataJNI.registerCompressorCurrentCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorCurrentCallback);
   }
 
-  /**
-   * Read the compressor current.
-   *
-   * @return the current of the compressor connected to this module
-   */
-  public double getCompressorCurrent() {
-    return REVPHDataJNI.getCompressorCurrent(m_index);
-  }
-
-  /**
-   * Set the compressor current.
-   *
-   * @param compressorCurrent the new compressor current
-   */
-  public void setCompressorCurrent(double compressorCurrent) {
-    REVPHDataJNI.setCompressorCurrent(m_index, compressorCurrent);
-  }
-
-  /** Reset all simulation data for this object. */
+  @Override
   public void resetData() {
     REVPHDataJNI.resetData(m_index);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SolenoidSim.java

@@ -0,0 +1,86 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+/** Class to control a simulated {@link edu.wpi.first.wpilibj.Solenoid}. */
+public class SolenoidSim {
+  private final PneumaticsBaseSim m_module;
+  private final int m_channel;
+
+  /**
+   * Constructs for a solenoid on the given pneumatics module.
+   *
+   * @param moduleSim the PCM the solenoid is connected to.
+   * @param channel the solenoid channel.
+   */
+  public SolenoidSim(PneumaticsBaseSim moduleSim, int channel) {
+    m_module = moduleSim;
+    m_channel = channel;
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and ID.
+   *
+   * @param module the CAN ID of the pneumatics module the solenoid is connected to.
+   * @param moduleType the module type (PH or PCM)
+   * @param channel the solenoid channel.
+   */
+  public SolenoidSim(int module, PneumaticsModuleType moduleType, int channel) {
+    this(PneumaticsBaseSim.getForType(module, moduleType), channel);
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and default ID.
+   *
+   * @param moduleType the module type (PH or PCM)
+   * @param channel the solenoid channel.
+   */
+  public SolenoidSim(PneumaticsModuleType moduleType, int channel) {
+    this(PneumaticsBase.getDefaultForType(moduleType), moduleType, channel);
+  }
+
+  /**
+   * Check the solenoid output.
+   *
+   * @return the solenoid output
+   */
+  public boolean getOutput() {
+    return m_module.getSolenoidOutput(m_channel);
+  }
+
+  /**
+   * Change the solenoid output.
+   *
+   * @param output the new solenoid output
+   */
+  public void setOutput(boolean output) {
+    m_module.setSolenoidOutput(m_channel, output);
+  }
+
+  /**
+   * Register a callback to be run when the output of this solenoid has changed.
+   *
+   * @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 so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerOutputCallback(NotifyCallback callback, boolean initialNotify) {
+    return m_module.registerSolenoidOutputCallback(m_channel, callback, initialNotify);
+  }
+
+  /**
+   * Get the wrapped {@link PneumaticsBaseSim} object.
+   *
+   * @return the wrapped {@link PneumaticsBaseSim} object.
+   */
+  public PneumaticsBaseSim getPCMSim() {
+    return m_module;
+  }
+}