Add DriverStation NetworkTables HAL Extension (#829)

simulation/halsim_ds_nt/src/main/native/include/HALSimDsNt.h

@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <memory>
+#include <thread>
+
+#include <MockData/DriverStationData.h>
+#include <networktables/NetworkTableInstance.h>
+#include <support/mutex.h>
+
+enum HALSimDSNT_Mode { teleop, auton, test };
+
+class HALSimDSNT {
+ public:
+  std::shared_ptr<nt::NetworkTable> rootTable, modeTable, allianceTable;
+  enum HALSimDSNT_Mode currentMode;
+  bool isEnabled, lastIsEnabled, isEstop;
+  std::atomic<bool> isAllianceRed, running;
+  std::atomic<double> currentMatchTime, timingHz, allianceStation;
+  std::thread loopThread;
+  wpi::mutex modeMutex;
+
+  void Initialize();
+  void HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed);
+  void UpdateModeButtons();
+  void DoModeUpdate();
+  void DoAllianceUpdate();
+  void LoopFunc();
+  void Flush();
+};