[hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)

wpilibc/src/main/native/include/frc/Compressor.h

@@ -7,9 +7,11 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <wpi/deprecated.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
+#include "frc/CompressorConfigType.h"
 #include "frc/PneumaticsBase.h"
 #include "frc/PneumaticsModuleType.h"
 #include "frc/SensorUtil.h"
@@ -59,13 +61,19 @@ class Compressor : public wpi::Sendable,
   /**
    * Starts closed-loop control. Note that closed loop control is enabled by
    * default.
+   *
+   * @deprecated Use EnableDigital() instead.
    */
+  WPI_DEPRECATED("Use EnableDigital() instead")
   void Start();
 
   /**
    * Stops closed-loop control. Note that closed loop control is enabled by
    * default.
+   *
+   * @deprecated Use Disable() instead.
    */
+  WPI_DEPRECATED("Use Disable() instead")
   void Stop();
 
   /**
@@ -87,25 +95,39 @@ class Compressor : public wpi::Sendable,
    *
    * @return The current through the compressor, in amps
    */
-  double GetCompressorCurrent() const;
+  double GetCurrent() const;
 
   /**
-   * Enables or disables automatically turning the compressor on when the
-   * pressure is low.
-   *
-   * @param on Set to true to enable closed loop control of the compressor.
-   *           False to disable.
+   * Disable the compressor.
    */
-  void SetClosedLoopControl(bool on);
+  void Disable();
 
   /**
-   * Returns true if the compressor will automatically turn on when the
-   * pressure is low.
-   *
-   * @return True if closed loop control of the compressor is enabled. False if
-   *         disabled.
+   * Enable compressor closed loop control using digital input.
    */
-  bool GetClosedLoopControl() const;
+  void EnableDigital();
+
+  /**
+   * Enable compressor closed loop control using analog input.
+   *
+   * <p>On CTRE PCM, this will enable digital control.
+   *
+   * @param minAnalogVoltage The minimum voltage to enable compressor
+   * @param maxAnalogVoltage The maximum voltage to disable compressor
+   */
+  void EnableAnalog(double minAnalogVoltage, double maxAnalogVoltage);
+
+  /**
+   * Enable compressor closed loop control using hybrid input.
+   *
+   * On CTRE PCM, this will enable digital control.
+   *
+   * @param minAnalogVoltage The minimum voltage to enable compressor
+   * @param maxAnalogVoltage The maximum voltage to disable compressor
+   */
+  void EnableHybrid(double minAnalogVoltage, double maxAnalogVoltage);
+
+  CompressorConfigType GetConfigType() const;
 
   void InitSendable(wpi::SendableBuilder& builder) override;
 

wpilibc/src/main/native/include/frc/CompressorConfigType.h

@@ -0,0 +1,15 @@
+// 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
+
+namespace frc {
+enum class CompressorConfigType {
+  Disabled = 0,
+  Digital = 1,
+  Analog = 2,
+  Hybrid = 3
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/PneumaticHub.h

@@ -22,9 +22,17 @@ class PneumaticHub : public PneumaticsBase {
 
   bool GetCompressor() const override;
 
-  void SetClosedLoopControl(bool enabled) override;
+  void DisableCompressor() override;
 
-  bool GetClosedLoopControl() const override;
+  void EnableCompressorDigital() override;
+
+  void EnableCompressorAnalog(double minAnalogVoltage,
+                              double maxAnalogVoltage) override;
+
+  void EnableCompressorHybrid(double minAnalogVoltage,
+                              double maxAnalogVoltage) override;
+
+  CompressorConfigType GetCompressorConfigType() const override;
 
   bool GetPressureSwitch() const override;
 

wpilibc/src/main/native/include/frc/PneumaticsBase.h

@@ -8,6 +8,7 @@
 
 #include <units/time.h>
 
+#include "frc/CompressorConfigType.h"
 #include "frc/PneumaticsModuleType.h"
 
 namespace frc {
@@ -24,9 +25,17 @@ class PneumaticsBase {
 
   virtual double GetCompressorCurrent() const = 0;
 
-  virtual void SetClosedLoopControl(bool on) = 0;
+  virtual void DisableCompressor() = 0;
 
-  virtual bool GetClosedLoopControl() const = 0;
+  virtual void EnableCompressorDigital() = 0;
+
+  virtual void EnableCompressorAnalog(double minAnalogVoltage,
+                                      double maxAnalogVoltage) = 0;
+
+  virtual void EnableCompressorHybrid(double minAnalogVoltage,
+                                      double maxAnalogVoltage) = 0;
+
+  virtual CompressorConfigType GetCompressorConfigType() const = 0;
 
   virtual void SetSolenoids(int mask, int values) = 0;
 

wpilibc/src/main/native/include/frc/PneumaticsControlModule.h

@@ -22,9 +22,17 @@ class PneumaticsControlModule : public PneumaticsBase {
 
   bool GetCompressor() const override;
 
-  void SetClosedLoopControl(bool enabled) override;
+  void DisableCompressor() override;
 
-  bool GetClosedLoopControl() const override;
+  void EnableCompressorDigital() override;
+
+  void EnableCompressorAnalog(double minAnalogVoltage,
+                              double maxAnalogVoltage) override;
+
+  void EnableCompressorHybrid(double minAnalogVoltage,
+                              double maxAnalogVoltage) override;
+
+  CompressorConfigType GetCompressorConfigType() const override;
 
   bool GetPressureSwitch() const override;
 

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

@@ -119,22 +119,22 @@ class REVPHSim {
    * @return the CallbackStore object associated with this callback
    */
   [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterClosedLoopEnabledCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  RegisterCompressorConfigTypeCallback(NotifyCallback callback,
+                                       bool initialNotify);
 
   /**
    * Check whether the closed loop compressor control is active.
    *
-   * @return true if active
+   * @return compressor config type
    */
-  bool GetClosedLoopEnabled() const;
+  int GetCompressorConfigType() const;
 
   /**
    * Turn on/off the closed loop control of the compressor.
    *
-   * @param closedLoopEnabled whether the control loop is active
+   * @param compressorConfigType compressor config type
    */
-  void SetClosedLoopEnabled(bool closedLoopEnabled);
+  void SetCompressorConfigType(int compressorConfigType);
 
   /**
    * Register a callback to be run whenever the pressure switch value changes.