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

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -29,6 +29,8 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
   private byte m_reverseMask; // The mask for the reverse channel.
   private int m_forwardHandle;
   private int m_reverseHandle;
+  private final int m_forwardChannel;
+  private final int m_reverseChannel;
 
   /**
    * Constructor. Uses the default PCM ID (defaults to 0).
@@ -51,6 +53,9 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
       final int moduleNumber, final int forwardChannel, final int reverseChannel) {
     super(moduleNumber);
 
+    m_forwardChannel = forwardChannel;
+    m_reverseChannel = reverseChannel;
+
     SensorUtil.checkSolenoidModule(m_moduleNumber);
     SensorUtil.checkSolenoidChannel(forwardChannel);
     SensorUtil.checkSolenoidChannel(reverseChannel);
@@ -148,6 +153,24 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
     }
   }
 
+  /**
+   * Get the forward channel.
+   *
+   * @return the forward channel.
+   */
+  public int getFwdChannel() {
+    return m_forwardChannel;
+  }
+
+  /**
+   * Get the reverse channel.
+   *
+   * @return the reverse channel.
+   */
+  public int getRevChannel() {
+    return m_reverseChannel;
+  }
+
   /**
    * Check if the forward solenoid is blacklisted. If a solenoid is shorted, it is added to the
    * blacklist and disabled until power cycle, or until faults are cleared.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -84,6 +84,11 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
     set(!get());
   }
 
+  /** Get the channel this solenoid is connected to. */
+  public int getChannel() {
+    return m_channel;
+  }
+
   /**
    * Check if solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and
    * disabled until power cycle, or until faults are cleared.

wpilibj/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java

@@ -22,6 +22,15 @@ public class SolenoidBase {
     m_moduleNumber = moduleNumber;
   }
 
+  /**
+   * Get the CAN ID of the module this solenoid is connected to.
+   *
+   * @return the module number.
+   */
+  public int getModuleNumber() {
+    return m_moduleNumber;
+  }
+
   /**
    * Read all 8 solenoids from the specified module as a single byte.
    *

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

@@ -0,0 +1,182 @@
+// 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.DoubleSolenoid;
+
+/** Class to control a simulated {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
+public class DoubleSolenoidSim {
+  private final PCMSim m_pcm;
+  private final int m_fwd;
+  private final int m_rev;
+
+  /**
+   * Constructs for a double solenoid on the default PCM.
+   *
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   * @see PCMSim#PCMSim()
+   */
+  public DoubleSolenoidSim(int fwd, int rev) {
+    this.m_pcm = new PCMSim();
+    this.m_fwd = fwd;
+    this.m_rev = rev;
+  }
+
+  /**
+   * Constructs for a double solenoid.
+   *
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   * @see PCMSim#PCMSim(int)
+   */
+  public DoubleSolenoidSim(int module, int fwd, int rev) {
+    this(new PCMSim(module), fwd, rev);
+  }
+
+  /**
+   * Constructs for a double solenoid on the given PCM.
+   *
+   * @param pcm the PCM the double solenoid is on.
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(PCMSim pcm, int fwd, int rev) {
+    this.m_pcm = pcm;
+    this.m_fwd = fwd;
+    this.m_rev = rev;
+  }
+
+  /**
+   * Constructs for the given solenoid.
+   *
+   * @param solenoid the solenoid to simulate.
+   */
+  public DoubleSolenoidSim(DoubleSolenoid solenoid) {
+    this(solenoid.getModuleNumber(), solenoid.getFwdChannel(), solenoid.getRevChannel());
+  }
+
+  /**
+   * 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. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerFwdInitializedCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    return m_pcm.registerSolenoidInitializedCallback(m_fwd, callback, initialNotify);
+  }
+
+  /**
+   * Check if the forward solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  public boolean getFwdInitialized() {
+    return m_pcm.getSolenoidInitialized(m_fwd);
+  }
+
+  /**
+   * Define whether the forward solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  public void setFwdInitialized(boolean initialized) {
+    m_pcm.setSolenoidInitialized(m_fwd, 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. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerRevInitializedCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    return m_pcm.registerSolenoidInitializedCallback(m_rev, callback, initialNotify);
+  }
+
+  /**
+   * Check if the reverse solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  public boolean getRevInitialized() {
+    return m_pcm.getSolenoidInitialized(m_rev);
+  }
+
+  /**
+   * Define whether the reverse solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  public void setRevInitialized(boolean initialized) {
+    m_pcm.setSolenoidInitialized(m_rev, initialized);
+  }
+
+  /**
+   * Set the value of the double solenoid output.
+   *
+   * @param value The value to set (Off, Forward, Reverse)
+   */
+  public void set(final DoubleSolenoid.Value value) {
+    boolean forward = false;
+    boolean reverse = false;
+
+    switch (value) {
+      case kOff:
+        forward = false;
+        reverse = false;
+        break;
+      case kForward:
+        forward = true;
+        reverse = false;
+        break;
+      case kReverse:
+        forward = false;
+        reverse = true;
+        break;
+      default:
+        throw new AssertionError("Illegal value: " + value);
+    }
+
+    m_pcm.setSolenoidOutput(m_fwd, forward);
+    m_pcm.setSolenoidOutput(m_rev, reverse);
+  }
+
+  /**
+   * Check the value of the double solenoid output.
+   *
+   * @return the output value of the double solenoid.
+   */
+  public DoubleSolenoid.Value get() {
+    boolean fwdState = m_pcm.getSolenoidOutput(m_fwd);
+    boolean revState = m_pcm.getSolenoidOutput(m_rev);
+    if (!fwdState && !revState) {
+      return DoubleSolenoid.Value.kOff;
+    } else if (fwdState && !revState) {
+      return DoubleSolenoid.Value.kForward;
+    } else if (!fwdState && revState) {
+      return DoubleSolenoid.Value.kReverse;
+    } else {
+      throw new AssertionError(
+          "In a double solenoid, both fwd and rev can't be on at the same time.");
+    }
+  }
+
+  /**
+   * Get the wrapped {@link PCMSim} object.
+   *
+   * @return the wrapped {@link PCMSim} object.
+   */
+  public PCMSim getPCMSim() {
+    return m_pcm;
+  }
+}

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

@@ -0,0 +1,125 @@
+// 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.Solenoid;
+
+/** Class to control a simulated {@link edu.wpi.first.wpilibj.Solenoid}. */
+public class SolenoidSim {
+  private final PCMSim m_pcm;
+  private final int m_channel;
+
+  /**
+   * Constructs for a solenoid on the default PCM.
+   *
+   * @param channel the solenoid channel.
+   * @see PCMSim#PCMSim()
+   */
+  public SolenoidSim(int channel) {
+    this.m_pcm = new PCMSim();
+    this.m_channel = channel;
+  }
+
+  /**
+   * 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)
+   */
+  public SolenoidSim(int module, int channel) {
+    this(new PCMSim(module), channel);
+  }
+
+  /**
+   * Constructs for a solenoid on the given PCM.
+   *
+   * @param pcm the PCM the solenoid is connected to.
+   * @param channel the solenoid channel.
+   */
+  public SolenoidSim(PCMSim pcm, int channel) {
+    this.m_pcm = pcm;
+    this.m_channel = channel;
+  }
+
+  /**
+   * Constructs for the given solenoid.
+   *
+   * @param solenoid the solenoid to simulate.
+   */
+  public SolenoidSim(Solenoid solenoid) {
+    this(solenoid.getModuleNumber(), solenoid.getChannel());
+  }
+
+  /**
+   * 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. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    return m_pcm.registerSolenoidInitializedCallback(m_channel, callback, initialNotify);
+  }
+
+  /**
+   * Check if this solenoid has been initialized.
+   *
+   * @return true if initialized
+   */
+  public boolean getInitialized() {
+    return m_pcm.getSolenoidInitialized(m_channel);
+  }
+
+  /**
+   * Define whether this solenoid has been initialized.
+   *
+   * @param initialized whether the solenoid is intiialized.
+   */
+  public void setInitialized(boolean initialized) {
+    m_pcm.setSolenoidInitialized(m_channel, 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. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerOutputCallback(NotifyCallback callback, boolean initialNotify) {
+    return m_pcm.registerSolenoidOutputCallback(m_channel, callback, initialNotify);
+  }
+
+  /**
+   * Check the solenoid output.
+   *
+   * @return the solenoid output
+   */
+  public boolean getOutput() {
+    return m_pcm.getSolenoidOutput(m_channel);
+  }
+
+  /**
+   * Change the solenoid output.
+   *
+   * @param output the new solenoid output
+   */
+  public void setOutput(boolean output) {
+    m_pcm.setSolenoidOutput(m_channel, output);
+  }
+
+  /**
+   * Get the wrapped {@link PCMSim} object.
+   *
+   * @return the wrapped {@link PCMSim} object.
+   */
+  public PCMSim getPCMSim() {
+    return m_pcm;
+  }
+}