Add simulation generic device/value support

This allows high-level library classes to implement enhanced simulation
support even if no low-level corresponding simulation library exists, and
avoids the need for bit-banging complex interfaces like SPI or CAN.

hal/src/main/java/edu/wpi/first/hal/HALValue.java

@@ -0,0 +1,169 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public final class HALValue {
+  public static final int kUnassigned = 0;
+  public static final int kBoolean = 0x01;
+  public static final int kDouble = 0x02;
+  public static final int kEnum = 0x04;
+  public static final int kInt = 0x08;
+  public static final int kLong = 0x10;
+
+  private int m_type;
+  private long m_long;
+  private double m_double;
+
+  private HALValue(double value, int type) {
+    m_type = type;
+    m_double = value;
+  }
+
+  private HALValue(long value, int type) {
+    m_type = type;
+    m_long = value;
+  }
+
+  private HALValue() {
+
+  }
+
+  /**
+   * Get the type of the value.
+   *
+   * @return Type (e.g. kBoolean).
+   */
+  public int getType() {
+    return m_type;
+  }
+
+  /**
+   * Get the value as a boolean.  Does not perform type checking.
+   *
+   * @return value contents
+   */
+  public boolean getBoolean() {
+    return m_long != 0;
+  }
+
+  /**
+   * Get the value as a long.  Does not perform type checking.
+   *
+   * @return value contents
+   */
+  public long getLong() {
+    return m_long;
+  }
+
+  /**
+   * Get the value as a double.  Does not perform type checking.
+   *
+   * @return value contents
+   */
+  public double getDouble() {
+    return m_double;
+  }
+
+  /**
+   * Get the native long value.  Does not perform type checking.
+   *
+   * @return value contents
+   */
+  public long getNativeLong() {
+    return m_long;
+  }
+
+  /**
+   * Get the native double value.  Does not perform type checking.
+   *
+   * @return value contents
+   */
+  public double getNativeDouble() {
+    return m_double;
+  }
+
+  /**
+   * Build a HAL boolean value.
+   *
+   * @param value value
+   * @return HAL value
+   */
+  public static HALValue makeBoolean(boolean value) {
+    return new HALValue(value ? 1 : 0, kBoolean);
+  }
+
+  /**
+   * Build a HAL enum value.
+   *
+   * @param value value
+   * @return HAL value
+   */
+  public static HALValue makeEnum(int value) {
+    return new HALValue(value, kEnum);
+  }
+
+  /**
+   * Build a HAL integer value.
+   *
+   * @param value value
+   * @return HAL value
+   */
+  public static HALValue makeInt(int value) {
+    return new HALValue(value, kInt);
+  }
+
+  /**
+   * Build a HAL long value.
+   *
+   * @param value value
+   * @return HAL value
+   */
+  public static HALValue makeLong(long value) {
+    return new HALValue(value, kLong);
+  }
+
+  /**
+   * Build a HAL double value.
+   *
+   * @param value value
+   * @return HAL value
+   */
+  public static HALValue makeDouble(double value) {
+    return new HALValue(value, kDouble);
+  }
+
+  public static HALValue makeUnassigned() {
+    return new HALValue();
+  }
+
+  /**
+   * Build a HAL value from its native components.
+   *
+   * @param type type
+   * @param value1 long value (all except double)
+   * @param value2 double value (for double only)
+   * @return HAL value
+   */
+  public static HALValue fromNative(int type, long value1, double value2) {
+    switch (type) {
+      case 0x01:
+        return makeBoolean(value1 != 0);
+      case 0x02:
+        return makeDouble(value2);
+      case 0x16:
+        return makeEnum((int) value1);
+      case 0x32:
+        return makeInt((int) value1);
+      case 0x64:
+        return makeLong(value1);
+      default:
+        return makeUnassigned();
+    }
+  }
+}

hal/src/main/java/edu/wpi/first/hal/SimBoolean.java

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator boolean value handle.
+ */
+public class SimBoolean extends SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueBoolean().
+   *
+   * @param handle simulated value handle
+   */
+  public SimBoolean(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public boolean get() {
+    return SimDeviceJNI.getSimValueBoolean(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void set(boolean value) {
+    SimDeviceJNI.setSimValueBoolean(m_handle, value);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/SimDevice.java

@@ -0,0 +1,171 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator device handle.
+ */
+public class SimDevice implements AutoCloseable {
+  /**
+   * Creates a simulated device.
+   *
+   * <p>The device name must be unique.  Returns null if the device name
+   * already exists.  If multiple instances of the same device are desired,
+   * recommend appending the instance/unique identifer in brackets to the base
+   * name, e.g. "device[1]".
+   *
+   * <p>null is returned if not in simulation.
+   *
+   * @param name device name
+   * @return simulated device object
+   */
+  public static SimDevice create(String name) {
+    int handle = SimDeviceJNI.createSimDevice(name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimDevice(handle);
+  }
+
+  /**
+   * Creates a simulated device.
+   *
+   * <p>The device name must be unique.  Returns null if the device name
+   * already exists.  This is a convenience method that appends index in
+   * brackets to the device name, e.g. passing index=1 results in "device[1]"
+   * for the device name.
+   *
+   * <p>null is returned if not in simulation.
+   *
+   * @param name device name
+   * @param index device index number to append to name
+   * @return simulated device object
+   */
+  public static SimDevice create(String name, int index) {
+    return create(name + "[" + index + "]");
+  }
+
+  /**
+   * Creates a simulated device.
+   *
+   * <p>The device name must be unique.  Returns null if the device name
+   * already exists.  This is a convenience method that appends index and
+   * channel in brackets to the device name, e.g. passing index=1 and channel=2
+   * results in "device[1,2]" for the device name.
+   *
+   * <p>null is returned if not in simulation.
+   *
+   * @param name device name
+   * @param index device index number to append to name
+   * @param channel device channel number to append to name
+   * @return simulated device object
+   */
+  public static SimDevice create(String name, int index, int channel) {
+    return create(name + "[" + index + "," + channel + "]");
+  }
+
+  /**
+   * Wraps a simulated device handle as returned by SimDeviceJNI.createSimDevice().
+   *
+   * @param handle simulated device handle
+   */
+  public SimDevice(int handle) {
+    m_handle = handle;
+  }
+
+  @Override
+  public void close() {
+    SimDeviceJNI.freeSimDevice(m_handle);
+  }
+
+  /**
+   * Get the internal device handle.
+   *
+   * @return internal handle
+   */
+  public int getNativeHandle() {
+    return m_handle;
+  }
+
+  /**
+   * Creates a value on the simulated device.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated value object
+   */
+  public SimValue createValue(String name, boolean readonly, HALValue initialValue) {
+    int handle = SimDeviceJNI.createSimValue(m_handle, name, readonly, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimValue(handle);
+  }
+
+  /**
+   * Creates a double value on the simulated device.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated double value object
+   */
+  public SimDouble createDouble(String name, boolean readonly, double initialValue) {
+    int handle = SimDeviceJNI.createSimValueDouble(m_handle, name, readonly, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimDouble(handle);
+  }
+
+  /**
+   * Creates an enumerated value on the simulated device.
+   *
+   * <p>Enumerated values are always in the range 0 to numOptions-1.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param options array of option descriptions
+   * @param initialValue initial value (selection)
+   * @return simulated enum value object
+   */
+  public SimEnum createEnum(String name, boolean readonly, String[] options, int initialValue) {
+    int handle = SimDeviceJNI.createSimValueEnum(m_handle, name, readonly, options, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimEnum(handle);
+  }
+
+  /**
+   * Creates a boolean value on the simulated device.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated boolean value object
+   */
+  public SimBoolean createBoolean(String name, boolean readonly, boolean initialValue) {
+    int handle = SimDeviceJNI.createSimValueBoolean(m_handle, name, readonly, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimBoolean(handle);
+  }
+
+  private final int m_handle;
+}

hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java

@@ -0,0 +1,183 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+public class SimDeviceJNI extends JNIWrapper {
+  /**
+   * Creates a simulated device.
+   *
+   * <p>The device name must be unique.  0 is returned if the device name
+   * already exists.  If multiple instances of the same device are desired,
+   * recommend appending the instance/unique identifer in brackets to the base
+   * name, e.g. "device[1]".
+   *
+   * <p>0 is returned if not in simulation.
+   *
+   * @param name device name
+   * @return simulated device handle
+   */
+  public static native int createSimDevice(String name);
+
+  /**
+   * Frees a simulated device.
+   *
+   * <p>This also allows the same device name to be used again.
+   * This also frees all the simulated values created on the device.
+   *
+   * @param handle simulated device handle
+   */
+  public static native void freeSimDevice(int handle);
+
+  private static native int createSimValueNative(int device, String name, boolean readonly,
+      int type, long value1, double value2);
+
+  /**
+   * Creates a value on a simulated device.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls
+   * to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated value handle
+   */
+  public static int createSimValue(int device, String name, boolean readonly,
+      HALValue initialValue) {
+    return createSimValueNative(device, name, readonly, initialValue.getType(),
+        initialValue.getNativeLong(), initialValue.getNativeDouble());
+  }
+
+  /**
+   * Creates a double value on a simulated device.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls
+   * to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated value handle
+   */
+  public static int createSimValueDouble(int device, String name, boolean readonly,
+      double initialValue) {
+    return createSimValueNative(device, name, readonly, HALValue.kDouble, 0, initialValue);
+  }
+
+  /**
+   * Creates an enumerated value on a simulated device.
+   *
+   * <p>Enumerated values are always in the range 0 to numOptions-1.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls
+   * to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param options array of option descriptions
+   * @param initialValue initial value (selection)
+   * @return simulated value handle
+   */
+  public static native int createSimValueEnum(int device, String name, boolean readonly,
+      String[] options, int initialValue);
+
+  /**
+   * Creates a boolean value on a simulated device.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls
+   * to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param readonly if the value should not be written from simulation side
+   * @param initialValue initial value
+   * @return simulated value handle
+   */
+  public static int createSimValueBoolean(int device, String name, boolean readonly,
+      boolean initialValue) {
+    return createSimValueNative(device, name, readonly, HALValue.kBoolean,
+        initialValue ? 1 : 0, 0.0);
+  }
+
+  /**
+   * Gets a simulated value.
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native HALValue getSimValue(int handle);
+
+  /**
+   * Gets a simulated value (double).
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native double getSimValueDouble(int handle);
+
+  /**
+   * Gets a simulated value (enum).
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native int getSimValueEnum(int handle);
+
+  /**
+   * Gets a simulated value (boolean).
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native boolean getSimValueBoolean(int handle);
+
+  private static native void setSimValueNative(int handle, int type, long value1, double value2);
+
+  /**
+   * Sets a simulated value.
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValue(int handle, HALValue value) {
+    setSimValueNative(handle, value.getType(), value.getNativeLong(), value.getNativeDouble());
+  }
+
+  /**
+   * Sets a simulated value (double).
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValueDouble(int handle, double value) {
+    setSimValueNative(handle, HALValue.kDouble, 0, value);
+  }
+
+  /**
+   * Sets a simulated value (enum).
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValueEnum(int handle, int value) {
+    setSimValueNative(handle, HALValue.kEnum, value, 0.0);
+  }
+
+  /**
+   * Sets a simulated value (boolean).
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValueBoolean(int handle, boolean value) {
+    setSimValueNative(handle, HALValue.kBoolean, value ? 1 : 0, 0.0);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/SimDouble.java

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator double value handle.
+ */
+public class SimDouble extends SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueDouble().
+   *
+   * @param handle simulated value handle
+   */
+  public SimDouble(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public double get() {
+    return SimDeviceJNI.getSimValueDouble(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void set(double value) {
+    SimDeviceJNI.setSimValueDouble(m_handle, value);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/SimEnum.java

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator enum value handle.
+ */
+public class SimEnum extends SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueEnum().
+   *
+   * @param handle simulated value handle
+   */
+  public SimEnum(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public int get() {
+    return SimDeviceJNI.getSimValueEnum(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void set(int value) {
+    SimDeviceJNI.setSimValueEnum(m_handle, value);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/SimValue.java

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator value handle.
+ */
+public class SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValue().
+   *
+   * @param handle simulated value handle
+   */
+  public SimValue(int handle) {
+    m_handle = handle;
+  }
+
+  /**
+   * Get the internal device handle.
+   *
+   * @return internal handle
+   */
+  public int getNativeHandle() {
+    return m_handle;
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public HALValue getValue() {
+    return SimDeviceJNI.getSimValue(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void setValue(HALValue value) {
+    SimDeviceJNI.setSimValue(m_handle, value);
+  }
+
+  protected final int m_handle;
+}

hal/src/main/java/edu/wpi/first/hal/sim/NotifyCallback.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,29 +7,12 @@
 
 package edu.wpi.first.hal.sim;
 
+import edu.wpi.first.hal.HALValue;
+
 public interface NotifyCallback {
-  void callback(String name, SimValue value);
+  void callback(String name, HALValue value);
 
   default void callbackNative(String name, int type, long value1, double value2) {
-    switch (type) {
-      case 0x01:
-        callback(name, SimValue.makeBoolean(value1 != 0));
-        break;
-      case 0x02:
-        callback(name, SimValue.makeDouble(value2));
-        break;
-      case 0x16:
-        callback(name, SimValue.makeEnum((int) value1));
-        break;
-      case 0x32:
-        callback(name, SimValue.makeInt((int) value1));
-        break;
-      case 0x64:
-        callback(name, SimValue.makeLong(value1));
-        break;
-      default:
-        callback(name, SimValue.makeUnassigned());
-        break;
-    }
+    callback(name, HALValue.fromNative(type, value1, value2));
   }
 }

hal/src/main/java/edu/wpi/first/hal/sim/SimDeviceCallback.java

@@ -0,0 +1,13 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+@FunctionalInterface
+public interface SimDeviceCallback {
+  void callback(String name, int handle);
+}

hal/src/main/java/edu/wpi/first/hal/sim/SimValue.java

@@ -1,66 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal.sim;
-
-public final class SimValue {
-  private boolean m_boolean;
-  private long m_long;
-  private double m_double;
-
-  private SimValue(boolean b) {
-    m_boolean = b;
-  }
-
-  private SimValue(double v) {
-    m_double = v;
-  }
-
-  private SimValue(long v) {
-    m_long = v;
-  }
-
-  private SimValue() {
-
-  }
-
-  public boolean getBoolean() {
-    return m_boolean;
-  }
-
-  public long getLong() {
-    return m_long;
-  }
-
-  public double getDouble() {
-    return m_double;
-  }
-
-  public static SimValue makeBoolean(boolean value) {
-    return new SimValue(value);
-  }
-
-  public static SimValue makeEnum(int value) {
-    return new SimValue(value);
-  }
-
-  public static SimValue makeInt(int value) {
-    return new SimValue(value);
-  }
-
-  public static SimValue makeLong(long value) {
-    return new SimValue(value);
-  }
-
-  public static SimValue makeDouble(double value) {
-    return new SimValue(value);
-  }
-
-  public static SimValue makeUnassigned() {
-    return new SimValue();
-  }
-}

hal/src/main/java/edu/wpi/first/hal/sim/SimValueCallback.java

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.HALValue;
+
+@FunctionalInterface
+public interface SimValueCallback {
+  void callback(String name, int handle, boolean readonly, HALValue value);
+
+  default void callbackNative(String name, int handle, boolean readonly, int type, long value1, double value2) {
+    callback(name, handle, readonly, HALValue.fromNative(type, value1, value2));
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI.java

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.sim.SimDeviceCallback;
+import edu.wpi.first.hal.sim.SimValueCallback;
+import edu.wpi.first.hal.HALValue;
+import edu.wpi.first.hal.JNIWrapper;
+
+public class SimDeviceDataJNI extends JNIWrapper {
+  public static native int registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
+  public static native void cancelSimDeviceCreatedCallback(int uid);
+
+  public static native int registerSimDeviceFreedCallback(String prefix, SimDeviceCallback callback);
+  public static native void cancelSimDeviceFreedCallback(int uid);
+
+  public static native int getSimDeviceHandle(String name);
+
+  public static native int getSimValueDeviceHandle(int handle);
+
+  public static class SimDeviceInfo {
+    public SimDeviceInfo(String name, int handle) {
+      this.name = name;
+      this.handle = handle;
+    }
+
+    @SuppressWarnings("MemberName")
+    String name;
+
+    @SuppressWarnings("MemberName")
+    int handle;
+  }
+  public static native SimDeviceInfo[] enumerateSimDevices(String prefix);
+
+  public static native int registerSimValueCreatedCallback(int device, SimValueCallback callback, boolean initialNotify);
+  public static native void cancelSimValueCreatedCallback(int uid);
+
+  public static native int registerSimValueChangedCallback(int handle, SimValueCallback callback, boolean initialNotify);
+  public static native void cancelSimValueChangedCallback(int uid);
+
+  public static native int getSimValueHandle(int device, String name);
+
+  public static class SimValueInfo {
+    public SimValueInfo(String name, int handle, boolean readonly, int type, long value1, double value2) {
+      this.name = name;
+      this.handle = handle;
+      this.readonly = readonly;
+      this.value = HALValue.fromNative(type, value1, value2);
+    }
+
+    @SuppressWarnings("MemberName")
+    String name;
+
+    @SuppressWarnings("MemberName")
+    int handle;
+
+    @SuppressWarnings("MemberName")
+    boolean readonly;
+
+    @SuppressWarnings("MemberName")
+    HALValue value;
+  }
+  public static native SimValueInfo[] enumerateSimValues(int device);
+
+  public static native String[] getSimValueEnumOptions(int handle);
+
+  public static native void resetSimDeviceData();
+}