[hal] Fix unfinished/incorrect GetCPUTemp functions (#5598)

hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java

@@ -151,6 +151,14 @@ public class RoboRioDataJNI extends JNIWrapper {
 
   public static native void setBrownoutVoltage(double brownoutVoltage);
 
+  public static native int registerCPUTempCallback(NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelCPUTempCallback(int uid);
+
+  public static native double getCPUTemp();
+
+  public static native void setCPUTemp(double cpuTemp);
+
   public static native String getSerialNumber();
 
   public static native void setSerialNumber(String serialNumber);

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -28,7 +28,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, 0)
 DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
 DEFINE_CAPI(double, BrownoutVoltage, 6.75)
-DEFINE_CAPI(int32_t, CPUTemp, 16)
+DEFINE_CAPI(double, CPUTemp, 45.0)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp

@@ -828,6 +828,56 @@ Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setBrownoutVoltage
   HALSIM_SetRoboRioBrownoutVoltage(value);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    registerCPUTempCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerCPUTempCallback
+  (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallbackNoIndex(env, callback, initialNotify,
+                                      &HALSIM_RegisterRoboRioCPUTempCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    cancelCPUTempCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelCPUTempCallback
+  (JNIEnv* env, jclass, jint handle)
+{
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelRoboRioCPUTempCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    getCPUTemp
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getCPUTemp
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetRoboRioCPUTemp();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method:    setCPUTemp
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setCPUTemp
+  (JNIEnv*, jclass, jdouble cpuTemp)
+{
+  HALSIM_SetRoboRioCPUTemp(cpuTemp);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_RoboRioDataJNI
  * Method:    getSerialNumber

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

@@ -145,8 +145,8 @@ int32_t HALSIM_RegisterRoboRioCPUTempCallback(HAL_NotifyCallback callback,
                                               void* param,
                                               HAL_Bool initialNotify);
 void HALSIM_CancelRoboRioCPUTempCallback(int32_t uid);
-HAL_Bool HALSIM_GetRoboRioCPUTemp(void);
-void HALSIM_SetRoboRioUserCPUTemp(HAL_Bool userActive3V3);
+double HALSIM_GetRoboRioCPUTemp(void);
+void HALSIM_SetRoboRioCPUTemp(double cpuTemp);
 
 #ifdef __cplusplus
 }  // extern "C"

hal/src/main/native/sim/mockdata/RoboRioData.cpp

@@ -32,7 +32,7 @@ void RoboRioData::ResetData() {
   userFaults5V.Reset(0);
   userFaults3V3.Reset(0);
   brownoutVoltage.Reset(6.75);
-  cpuTemp.Reset(100);
+  cpuTemp.Reset(45.0);
   m_serialNumber = "";
   m_comments = "";
 }
@@ -133,7 +133,7 @@ DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
 DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
 DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
 DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
-DEFINE_CAPI(int32_t, CPUTemp, cpuTemp)
+DEFINE_CAPI(double, CPUTemp, cpuTemp)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

hal/src/main/native/sim/mockdata/RoboRioDataInternal.h

@@ -58,7 +58,7 @@ class RoboRioData {
   SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
   SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
       6.75};
-  SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{100};
+  SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{45.0};
 
   int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
                                        void* param, HAL_Bool initialNotify);

wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp

@@ -284,6 +284,23 @@ void RoboRioSim::SetBrownoutVoltage(units::volt_t vInVoltage) {
   HALSIM_SetRoboRioBrownoutVoltage(vInVoltage.value());
 }
 
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterCPUTempCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      -1, callback, &HALSIM_CancelRoboRioCPUTempCallback);
+  store->SetUid(HALSIM_RegisterRoboRioCPUTempCallback(
+      &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+units::celsius_t RoboRioSim::GetCPUTemp() {
+  return units::celsius_t{HALSIM_GetRoboRioCPUTemp()};
+}
+
+void RoboRioSim::SetCPUTemp(units::celsius_t cpuTemp) {
+  HALSIM_SetRoboRioCPUTemp(cpuTemp.value());
+}
+
 std::string RoboRioSim::GetSerialNumber() {
   char serialNum[9];
   size_t len = HALSIM_GetRoboRioSerialNumber(serialNum, sizeof(serialNum));

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

@@ -8,6 +8,7 @@
 #include <string>
 
 #include <units/current.h>
+#include <units/temperature.h>
 #include <units/voltage.h>
 
 #include "frc/simulation/CallbackStore.h"
@@ -435,6 +436,31 @@ class RoboRioSim {
    */
   static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
 
+  /**
+   * Register a callback to be run whenever the cpu temp changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterCPUTempCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the cpu temp.
+   *
+   * @return the cpu temp.
+   */
+  static units::celsius_t GetCPUTemp();
+
+  /**
+   * Define the cpu temp.
+   *
+   * @param cpuTemp the new cpu temp.
+   */
+  static void SetCPUTemp(units::celsius_t cpuTemp);
+
   /**
    * Get the serial number.
    *

wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp

@@ -207,6 +207,21 @@ TEST(RoboRioSimTest, Set3V3) {
   EXPECT_EQ(kTestFaults, RobotController::GetFaultCount3V3());
 }
 
+TEST(RoboRioSimTest, SetCPUTemp) {
+  RoboRioSim::ResetData();
+
+  DoubleCallback callback;
+  auto cbHandle =
+      RoboRioSim::RegisterCPUTempCallback(callback.GetCallback(), false);
+  constexpr double kCPUTemp = 100.0;
+
+  RoboRioSim::SetCPUTemp(units::celsius_t{kCPUTemp});
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_EQ(kCPUTemp, callback.GetLastValue());
+  EXPECT_EQ(kCPUTemp, RoboRioSim::GetCPUTemp().value());
+  EXPECT_EQ(kCPUTemp, RobotController::GetCPUTemp().value());
+}
+
 TEST(RoboRioSimTest, SetSerialNumber) {
   const std::string kSerialNum = "Hello";
 

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

@@ -525,6 +525,38 @@ public final class RoboRioSim {
     RoboRioDataJNI.setBrownoutVoltage(vInVoltage);
   }
 
+  /**
+   * Register a callback to be run whenever the cpu temp 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 static CallbackStore registerCPUTempCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = RoboRioDataJNI.registerCPUTempCallback(callback, initialNotify);
+    return new CallbackStore(uid, RoboRioDataJNI::cancelCPUTempCallback);
+  }
+
+  /**
+   * Get the cpu temp.
+   *
+   * @return the cpu temp.
+   */
+  public static double getCPUTemp() {
+    return RoboRioDataJNI.getCPUTemp();
+  }
+
+  /**
+   * Set the cpu temp.
+   *
+   * @param cpuTemp the new cpu temp.
+   */
+  public static void setCPUTemp(double cpuTemp) {
+    RoboRioDataJNI.setCPUTemp(cpuTemp);
+  }
+
   /**
    * Get the serial number.
    *

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java

@@ -209,6 +209,23 @@ class RoboRioSimTest {
     }
   }
 
+  @Test
+  void testCPUTemp() {
+    RoboRioSim.resetData();
+
+    DoubleCallback callback = new DoubleCallback();
+
+    try (CallbackStore cb = RoboRioSim.registerCPUTempCallback(callback, false)) {
+      final double kCPUTemp = 100.0;
+
+      RoboRioSim.setCPUTemp(kCPUTemp);
+      assertTrue(callback.wasTriggered());
+      assertEquals(kCPUTemp, callback.getSetValue());
+      assertEquals(kCPUTemp, RoboRioSim.getCPUTemp());
+      assertEquals(kCPUTemp, RobotController.getCPUTemp());
+    }
+  }
+
   @Test
   void testSerialNumber() {
     RoboRioSim.resetData();