[sim] Move WPILib C++ sim implementations out of line (#2598)

This makes the sim classes consistent with the rest of the WPILibC classes.

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

@@ -0,0 +1,189 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2020 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 "frc/simulation/EncoderSim.h"
+
+#include <memory>
+#include <stdexcept>
+#include <utility>
+
+#include <hal/simulation/EncoderData.h>
+
+#include "frc/Encoder.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+EncoderSim::EncoderSim(const Encoder& encoder)
+    : m_index{encoder.GetFPGAIndex()} {}
+
+EncoderSim EncoderSim::CreateForChannel(int channel) {
+  int index = HALSIM_FindEncoderForChannel(channel);
+  if (index < 0) throw std::out_of_range("no encoder found for channel");
+  return EncoderSim{index};
+}
+
+EncoderSim EncoderSim::CreateForIndex(int index) { return EncoderSim{index}; }
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterInitializedCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderInitializedCallback);
+  store->SetUid(HALSIM_RegisterEncoderInitializedCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool EncoderSim::GetInitialized() const {
+  return HALSIM_GetEncoderInitialized(m_index);
+}
+
+void EncoderSim::SetInitialized(bool initialized) {
+  HALSIM_SetEncoderInitialized(m_index, initialized);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterCountCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderCountCallback);
+  store->SetUid(HALSIM_RegisterEncoderCountCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+int EncoderSim::GetCount() const { return HALSIM_GetEncoderCount(m_index); }
+
+void EncoderSim::SetCount(int count) { HALSIM_SetEncoderCount(m_index, count); }
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterPeriodCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderPeriodCallback);
+  store->SetUid(HALSIM_RegisterEncoderPeriodCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double EncoderSim::GetPeriod() const {
+  return HALSIM_GetEncoderPeriod(m_index);
+}
+
+void EncoderSim::SetPeriod(double period) {
+  HALSIM_SetEncoderPeriod(m_index, period);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterResetCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderResetCallback);
+  store->SetUid(HALSIM_RegisterEncoderResetCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool EncoderSim::GetReset() const { return HALSIM_GetEncoderReset(m_index); }
+
+void EncoderSim::SetReset(bool reset) {
+  HALSIM_SetEncoderReset(m_index, reset);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterMaxPeriodCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderMaxPeriodCallback);
+  store->SetUid(HALSIM_RegisterEncoderMaxPeriodCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double EncoderSim::GetMaxPeriod() const {
+  return HALSIM_GetEncoderMaxPeriod(m_index);
+}
+
+void EncoderSim::SetMaxPeriod(double maxPeriod) {
+  HALSIM_SetEncoderMaxPeriod(m_index, maxPeriod);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterDirectionCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderDirectionCallback);
+  store->SetUid(HALSIM_RegisterEncoderDirectionCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool EncoderSim::GetDirection() const {
+  return HALSIM_GetEncoderDirection(m_index);
+}
+
+void EncoderSim::SetDirection(bool direction) {
+  HALSIM_SetEncoderDirection(m_index, direction);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterReverseDirectionCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderReverseDirectionCallback);
+  store->SetUid(HALSIM_RegisterEncoderReverseDirectionCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool EncoderSim::GetReverseDirection() const {
+  return HALSIM_GetEncoderReverseDirection(m_index);
+}
+
+void EncoderSim::SetReverseDirection(bool reverseDirection) {
+  HALSIM_SetEncoderReverseDirection(m_index, reverseDirection);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterSamplesToAverageCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderSamplesToAverageCallback);
+  store->SetUid(HALSIM_RegisterEncoderSamplesToAverageCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+int EncoderSim::GetSamplesToAverage() const {
+  return HALSIM_GetEncoderSamplesToAverage(m_index);
+}
+
+void EncoderSim::SetSamplesToAverage(int samplesToAverage) {
+  HALSIM_SetEncoderSamplesToAverage(m_index, samplesToAverage);
+}
+
+std::unique_ptr<CallbackStore> EncoderSim::RegisterDistancePerPulseCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelEncoderDistancePerPulseCallback);
+  store->SetUid(HALSIM_RegisterEncoderDistancePerPulseCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double EncoderSim::GetDistancePerPulse() const {
+  return HALSIM_GetEncoderDistancePerPulse(m_index);
+}
+
+void EncoderSim::SetDistancePerPulse(double distancePerPulse) {
+  HALSIM_SetEncoderDistancePerPulse(m_index, distancePerPulse);
+}
+
+void EncoderSim::ResetData() { HALSIM_ResetEncoderData(m_index); }
+
+void EncoderSim::SetDistance(double distance) {
+  HALSIM_SetEncoderDistance(m_index, distance);
+}
+
+double EncoderSim::GetDistance() { return HALSIM_GetEncoderDistance(m_index); }
+
+void EncoderSim::SetRate(double rate) { HALSIM_SetEncoderRate(m_index, rate); }
+
+double EncoderSim::GetRate() { return HALSIM_GetEncoderRate(m_index); }