Add user-friendly SimDeviceSim wrappers (#2150)

This makes unit testing with SimDevice devices much easier.

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

@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SimBoolean;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimEnum;
+import edu.wpi.first.hal.SimValue;
+import edu.wpi.first.hal.sim.mockdata.SimDeviceDataJNI;
+
+public class SimDeviceSim {
+  private final int m_handle;
+
+  public SimDeviceSim(String name) {
+    m_handle = SimDeviceDataJNI.getSimDeviceHandle(name);
+  }
+
+  public SimValue getValue(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimValue(handle);
+  }
+
+  public SimDouble getDouble(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimDouble(handle);
+  }
+
+  public SimEnum getEnum(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimEnum(handle);
+  }
+
+  public SimBoolean getBoolean(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimBoolean(handle);
+  }
+
+  public static String[] getEnumOptions(SimEnum val) {
+    return SimDeviceDataJNI.getSimValueEnumOptions(val.getNativeHandle());
+  }
+
+  public SimDeviceDataJNI.SimValueInfo[] enumerateValues() {
+    return SimDeviceDataJNI.enumerateSimValues(m_handle);
+  }
+
+  public int getNativeHandle() {
+    return m_handle;
+  }
+
+  public CallbackStore registerValueCreatedCallback(SimValueCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimValueCreatedCallback(m_handle, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueCreatedCallback);
+  }
+
+  public CallbackStore registerValueChangedCallback(SimValueCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimValueChangedCallback(m_handle, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueChangedCallback);
+  }
+
+  public static SimDeviceDataJNI.SimDeviceInfo[] enumerateDevices(String prefix) {
+    return SimDeviceDataJNI.enumerateSimDevices(prefix);
+  }
+
+  public CallbackStore registerDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimDeviceCreatedCallback(prefix, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceCreatedCallback);
+  }
+
+  public CallbackStore registerDeviceFreedCallback(String prefix, SimDeviceCallback callback) {
+    int uid = SimDeviceDataJNI.registerSimDeviceFreedCallback(prefix, callback);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceFreedCallback);
+  }
+
+  public static void resetData() {
+    SimDeviceDataJNI.resetSimDeviceData();
+  }
+}

hal/src/main/native/include/simulation/SimDeviceSim.h

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "CallbackStore.h"
+#include "hal/SimDevice.h"
+#include "mockdata/SimDeviceData.h"
+
+namespace frc {
+namespace sim {
+class SimDeviceSim {
+ public:
+  explicit SimDeviceSim(const char* name)
+      : m_handle{HALSIM_GetSimDeviceHandle(name)} {}
+
+  hal::SimValue GetValue(const char* name) const {
+    return HALSIM_GetSimValueHandle(m_handle, name);
+  }
+
+  hal::SimDouble GetDouble(const char* name) const {
+    return HALSIM_GetSimValueHandle(m_handle, name);
+  }
+
+  hal::SimEnum GetEnum(const char* name) const {
+    return HALSIM_GetSimValueHandle(m_handle, name);
+  }
+
+  hal::SimBoolean GetBoolean(const char* name) const {
+    return HALSIM_GetSimValueHandle(m_handle, name);
+  }
+
+  static std::vector<std::string> GetEnumOptions(hal::SimEnum val) {
+    int32_t numOptions;
+    const char** options = HALSIM_GetSimValueEnumOptions(val, &numOptions);
+    std::vector<std::string> rv;
+    rv.reserve(numOptions);
+    for (int32_t i = 0; i < numOptions; ++i) rv.emplace_back(options[i]);
+    return rv;
+  }
+
+  template <typename F>
+  void EnumerateValues(F callback) const {
+    return HALSIM_EnumerateSimValues(
+        m_handle, &callback,
+        [](const char* name, void* param, HAL_SimValueHandle handle,
+           HAL_Bool readonly, const struct HAL_Value* value) {
+          std::invoke(*static_cast<F*>(param), name, handle, readonly, value);
+        });
+  }
+
+  operator HAL_SimDeviceHandle() const { return m_handle; }
+
+  template <typename F>
+  static void EnumerateDevices(const char* prefix, F callback) {
+    return HALSIM_EnumerateSimDevices(
+        prefix, &callback,
+        [](const char* name, void* param, HAL_SimDeviceHandle handle) {
+          std::invoke(*static_cast<F*>(param), name, handle);
+        });
+  }
+
+  static void ResetData() { HALSIM_ResetSimDeviceData(); }
+
+ private:
+  HAL_SimDeviceHandle m_handle;
+};
+}  // namespace sim
+}  // namespace frc

hal/src/test/java/edu/wpi/first/hal/sim/SimDeviceSimTest.java

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* 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 org.junit.jupiter.api.Test;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class SimDeviceSimTest {
+  @Test
+  void testBasic() {
+    SimDevice dev = SimDevice.create("test");
+    SimBoolean devBool = dev.createBoolean("bool", false, false);
+
+    SimDeviceSim sim = new SimDeviceSim("test");
+    SimBoolean simBool = sim.getBoolean("bool");
+
+    assertFalse(simBool.get());
+    simBool.set(true);
+    assertTrue(devBool.get());
+  }
+}

hal/src/test/native/cpp/sim/SimDeviceSimTest.cpp

@@ -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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <wpi/StringRef.h>
+
+#include "gtest/gtest.h"
+#include "hal/SimDevice.h"
+#include "simulation/SimDeviceSim.h"
+
+using namespace frc::sim;
+
+namespace hal {
+
+TEST(SimDeviceSimTests, TestBasic) {
+  SimDevice dev{"test"};
+  SimBoolean devBool = dev.CreateBoolean("bool", false, false);
+
+  SimDeviceSim sim{"test"};
+  SimBoolean simBool = sim.GetBoolean("bool");
+  EXPECT_FALSE(simBool.Get());
+  simBool.Set(true);
+  EXPECT_TRUE(devBool.Get());
+}
+
+TEST(SimDeviceSimTests, TestEnumerateDevices) {
+  SimDevice dev{"test"};
+
+  bool foundit = false;
+  SimDeviceSim::EnumerateDevices(
+      "te", [&](const char* name, HAL_SimDeviceHandle handle) {
+        if (wpi::StringRef(name) == "test") foundit = true;
+      });
+  EXPECT_TRUE(foundit);
+}
+
+}  // namespace hal