[sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177)

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -148,6 +148,14 @@ void DoubleSolenoid::Toggle() {
   }
 }
 
+int DoubleSolenoid::GetFwdChannel() const {
+  return m_forwardChannel;
+}
+
+int DoubleSolenoid::GetRevChannel() const {
+  return m_reverseChannel;
+}
+
 bool DoubleSolenoid::IsFwdSolenoidBlackListed() const {
   int blackList = GetPCMSolenoidBlackList(m_moduleNumber);
   return (blackList & m_forwardMask) != 0;

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -79,6 +79,10 @@ void Solenoid::Toggle() {
   Set(!Get());
 }
 
+int Solenoid::GetChannel() const {
+  return m_channel;
+}
+
 bool Solenoid::IsBlackListed() const {
   int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
   return (value != 0);

wpilibc/src/main/native/cpp/SolenoidBase.cpp

@@ -58,3 +58,7 @@ void SolenoidBase::ClearAllPCMStickyFaults() {
 }
 
 SolenoidBase::SolenoidBase(int moduleNumber) : m_moduleNumber(moduleNumber) {}
+
+int SolenoidBase::GetModuleNumber() const {
+  return m_moduleNumber;
+}

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

@@ -0,0 +1,91 @@
+// 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.
+
+#include "frc/simulation/DoubleSolenoidSim.h"
+
+#include "frc/SensorUtil.h"
+#include "frc/simulation/PCMSim.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+DoubleSolenoidSim::DoubleSolenoidSim(int fwd, int rev)
+    : m_fwd{fwd}, m_rev{rev} {}
+
+DoubleSolenoidSim::DoubleSolenoidSim(int module, int fwd, int rev)
+    : m_pcm{module}, m_fwd{fwd}, m_rev{rev} {}
+
+DoubleSolenoidSim::DoubleSolenoidSim(PCMSim& pcm, int fwd, int rev)
+    : m_pcm{pcm}, m_fwd{fwd}, m_rev{rev} {}
+
+DoubleSolenoidSim::DoubleSolenoidSim(DoubleSolenoid& solenoid)
+    : m_pcm{solenoid.GetModuleNumber()},
+      m_fwd{solenoid.GetFwdChannel()},
+      m_rev{solenoid.GetRevChannel()} {}
+
+std::unique_ptr<CallbackStore>
+DoubleSolenoidSim::RegisterFwdInitializedCallback(NotifyCallback callback,
+                                                  bool initialNotify) {
+  return m_pcm.RegisterSolenoidInitializedCallback(m_fwd, callback,
+                                                   initialNotify);
+}
+
+bool DoubleSolenoidSim::GetFwdInitialized() const {
+  return m_pcm.GetSolenoidInitialized(m_fwd);
+}
+
+void DoubleSolenoidSim::SetFwdInitialized(bool initialized) {
+  m_pcm.SetSolenoidInitialized(m_fwd, initialized);
+}
+
+std::unique_ptr<CallbackStore>
+DoubleSolenoidSim::RegisterRevInitializedCallback(NotifyCallback callback,
+                                                  bool initialNotify) {
+  return m_pcm.RegisterSolenoidInitializedCallback(m_rev, callback,
+                                                   initialNotify);
+}
+
+bool DoubleSolenoidSim::GetRevInitialized() const {
+  return m_pcm.GetSolenoidInitialized(m_rev);
+}
+
+void DoubleSolenoidSim::SetRevInitialized(bool initialized) {
+  m_pcm.SetSolenoidInitialized(m_rev, initialized);
+}
+
+void DoubleSolenoidSim::Set(DoubleSolenoid::Value value) {
+  bool forward = false;
+  bool reverse = false;
+
+  switch (value) {
+    case DoubleSolenoid::Value::kOff:
+      forward = false;
+      reverse = false;
+      break;
+    case DoubleSolenoid::Value::kForward:
+      forward = true;
+      reverse = false;
+      break;
+    case DoubleSolenoid::Value::kReverse:
+      forward = false;
+      reverse = true;
+      break;
+  }
+
+  m_pcm.SetSolenoidOutput(m_fwd, forward);
+  m_pcm.SetSolenoidOutput(m_rev, reverse);
+}
+
+DoubleSolenoid::Value DoubleSolenoidSim::Get() const {
+  bool valueForward = m_pcm.GetSolenoidOutput(m_fwd);
+  bool valueReverse = m_pcm.GetSolenoidOutput(m_rev);
+
+  if (valueForward) {
+    return DoubleSolenoid::Value::kForward;
+  } else if (valueReverse) {
+    return DoubleSolenoid::Value::kReverse;
+  } else {
+    return DoubleSolenoid::Value::kOff;
+  }
+}

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

@@ -0,0 +1,50 @@
+// 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.
+
+#include "frc/simulation/SolenoidSim.h"
+
+#include "frc/SensorUtil.h"
+#include "frc/simulation/PCMSim.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+SolenoidSim::SolenoidSim(int channel) : m_channel{channel} {}
+
+SolenoidSim::SolenoidSim(int module, int channel)
+    : m_pcm{module}, m_channel{channel} {}
+
+SolenoidSim::SolenoidSim(PCMSim& pcm, int channel)
+    : m_pcm{pcm}, m_channel{channel} {}
+
+SolenoidSim::SolenoidSim(Solenoid& solenoid)
+    : m_pcm{solenoid.GetModuleNumber()}, m_channel{solenoid.GetChannel()} {}
+
+std::unique_ptr<CallbackStore> SolenoidSim::RegisterInitializedCallback(
+    NotifyCallback callback, bool initialNotify) {
+  return m_pcm.RegisterSolenoidInitializedCallback(m_channel, callback,
+                                                   initialNotify);
+}
+
+bool SolenoidSim::GetInitialized() const {
+  return m_pcm.GetSolenoidInitialized(m_channel);
+}
+
+void SolenoidSim::SetInitialized(bool initialized) {
+  m_pcm.SetSolenoidInitialized(m_channel, initialized);
+}
+
+std::unique_ptr<CallbackStore> SolenoidSim::RegisterOutputCallback(
+    NotifyCallback callback, bool initialNotify) {
+  return m_pcm.RegisterSolenoidOutputCallback(m_channel, callback,
+                                              initialNotify);
+}
+
+bool SolenoidSim::GetOutput() const {
+  return m_pcm.GetSolenoidOutput(m_channel);
+}
+
+void SolenoidSim::SetOutput(bool output) {
+  m_pcm.SetSolenoidOutput(m_channel, output);
+}

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

@@ -74,6 +74,20 @@ class DoubleSolenoid : public SolenoidBase,
    */
   void Toggle();
 
+  /**
+   * Get the forward channel.
+   *
+   * @return the forward channel.
+   */
+  int GetFwdChannel() const;
+
+  /**
+   * Get the reverse channel.
+   *
+   * @return the reverse channel.
+   */
+  int GetRevChannel() const;
+
   /**
    * Check if the forward solenoid is blacklisted.
    *

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

@@ -66,6 +66,11 @@ class Solenoid : public SolenoidBase,
    */
   void Toggle();
 
+  /**
+   * Get the channel this solenoid is connected to.
+   */
+  int GetChannel() const;
+
   /**
    * Check if solenoid is blacklisted.
    *

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

@@ -14,6 +14,13 @@ namespace frc {
  */
 class SolenoidBase : public ErrorBase {
  public:
+  /**
+   * Get the CAN ID of the module this solenoid is connected to.
+   *
+   * @return the module number.
+   */
+  int GetModuleNumber() const;
+
   /**
    * Read all 8 solenoids as a single byte
    *

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

@@ -0,0 +1,116 @@
+// 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
+
+#include <memory>
+
+#include "frc/DoubleSolenoid.h"
+#include "frc/simulation/CallbackStore.h"
+#include "frc/simulation/PCMSim.h"
+
+namespace frc::sim {
+
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
+class DoubleSolenoidSim {
+ public:
+  /**
+   * Constructs for a solenoid on the default PCM.
+   *
+   * @param channel the solenoid channel.
+   */
+  DoubleSolenoidSim(int fwd, int rev);
+
+  /**
+   * Constructs for a solenoid on the given PCM.
+   *
+   * @param pcm the PCM the solenoid is connected to.
+   * @param channel the solenoid channel.
+   */
+  DoubleSolenoidSim(int module, int fwd, int rev);
+
+  /**
+   * Constructs from a PCMSim object.
+   *
+   * @param pcm the PCM the solenoid is connected to.
+   */
+  DoubleSolenoidSim(PCMSim& pcm, int fwd, int rev);
+
+  /**
+   * Constructs for the given solenoid.
+   *
+   * @param solenoid the solenoid to simulate.
+   */
+  explicit DoubleSolenoidSim(DoubleSolenoid& solenoid);
+
+  /**
+   * Register a callback to be run when the forward solenoid is initialized.
+   *
+   * @param callback      the callback
+   * @param initialNotify should the callback be run with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterFwdInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if the forward solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  bool GetFwdInitialized() const;
+
+  /**
+   * Define whether the forward solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  void SetFwdInitialized(bool initialized);
+
+  /**
+   * Register a callback to be run when the reverse solenoid is initialized.
+   *
+   * @param callback      the callback
+   * @param initialNotify should the callback be run with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRevInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Define whether the reverse solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  void SetRevInitialized(bool initialized);
+
+  /**
+   * Check if the reverse solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  bool GetRevInitialized() const;
+
+  /**
+   * Set the value of the double solenoid output.
+   *
+   * @param value The value to set (Off, Forward, Reverse)
+   */
+  void Set(DoubleSolenoid::Value value);
+
+  /**
+   * Check the value of the double solenoid output.
+   *
+   * @return the output value of the double solenoid.
+   */
+  DoubleSolenoid::Value Get() const;
+
+ private:
+  PCMSim m_pcm;
+  int m_fwd;
+  int m_rev;
+};
+}  // namespace frc::sim

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

@@ -0,0 +1,104 @@
+// 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
+
+#include <memory>
+
+#include "frc/Solenoid.h"
+#include "frc/simulation/CallbackStore.h"
+#include "frc/simulation/PCMSim.h"
+
+namespace frc::sim {
+
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
+class SolenoidSim {
+ public:
+  /**
+   * Constructs for a solenoid on the default PCM.
+   *
+   * @param channel the solenoid channel.
+   */
+  explicit SolenoidSim(int channel);
+
+  /**
+   * Constructs for the given solenoid.
+   *
+   * @param doubleSolenoid the solenoid to simulate.
+   */
+  explicit SolenoidSim(Solenoid& solenoid);
+
+  /**
+   * Constructs for a solenoid.
+   *
+   * @param module the CAN ID of the PCM the solenoid is connected to.
+   * @param channel the solenoid channel.
+   *
+   * @see PCMSim#PCMSim(int)
+   */
+  SolenoidSim(int module, int channel);
+
+  /**
+   * Constructs for a solenoid on the given PCM.
+   *
+   * @param pcm the PCM the solenoid is connected to.
+   * @param channel the solenoid channel.
+   */
+  SolenoidSim(PCMSim& pcm, int channel);
+
+  /**
+   * Register a callback to be run when this solenoid is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if this solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Define whether this solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  void SetInitialized(bool initialized);
+
+  /**
+   * Register a callback to be run when the output of this solenoid has changed.
+   *
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterOutputCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check the solenoid output.
+   *
+   * @return the solenoid output
+   */
+  bool GetOutput() const;
+
+  /**
+   * Change the solenoid output.
+   *
+   * @param output the new solenoid output
+   */
+  void SetOutput(bool output);
+
+ private:
+  PCMSim m_pcm;
+  int m_channel;
+};
+}  // namespace frc::sim