[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);
+}