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wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java

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+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+/** Common base class for pneumatics module simulation classes. */
+public abstract class PneumaticsBaseSim {
+  /** PneumaticsBase index. */
+  protected final int m_index;
+
+  /**
+   * Get a module sim for a specific type.
+   *
+   * @param module the module number / CAN ID.
+   * @param type the module type.
+   * @return the module object.
+   */
+  public static PneumaticsBaseSim getForType(int module, PneumaticsModuleType type) {
+    return switch (type) {
+      case CTREPCM -> new CTREPCMSim(module);
+      case REVPH -> new REVPHSim(module);
+    };
+  }
+
+  /**
+   * Constructs a PneumaticsBaseSim with the given index.
+   *
+   * @param index The index.
+   */
+  protected PneumaticsBaseSim(int index) {
+    m_index = index;
+  }
+
+  /**
+   * Constructs a PneumaticsBaseSim for the given module.
+   *
+   * @param module The module.
+   */
+  protected PneumaticsBaseSim(PneumaticsBase module) {
+    this(module.getModuleNumber());
+  }
+
+  /**
+   * Check whether the PCM/PH has been initialized.
+   *
+   * @return true if initialized
+   */
+  public abstract boolean getInitialized();
+
+  /**
+   * Define whether the PCM/PH has been initialized.
+   *
+   * @param initialized true for initialized
+   */
+  public abstract void setInitialized(boolean initialized);
+
+  /**
+   * Register a callback to be run when the PCM/PH is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public abstract CallbackStore registerInitializedCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  public abstract boolean getCompressorOn();
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  public abstract void setCompressorOn(boolean compressorOn);
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public abstract CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  public abstract boolean getSolenoidOutput(int channel);
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  public abstract void setSolenoidOutput(int channel, boolean solenoidOutput);
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public abstract CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  public abstract boolean getPressureSwitch();
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  public abstract void setPressureSwitch(boolean pressureSwitch);
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public abstract CallbackStore registerPressureSwitchCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  public abstract double getCompressorCurrent();
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  public abstract void setCompressorCurrent(double compressorCurrent);
+
+  /**
+   * Register a callback to be run whenever the compressor current 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.
+   */
+  public abstract CallbackStore registerCompressorCurrentCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  /** Reset all simulation data for this object. */
+  public abstract void resetData();
+}