[hal] Add handle constructor and name getters for sim devices (#4925)

hal/src/main/java/edu/wpi/first/hal/SimDevice.java

@@ -106,6 +106,15 @@ public class SimDevice implements AutoCloseable {
     return m_handle;
   }
 
+  /**
+   * Get the name of the simulated device.
+   *
+   * @return the name
+   */
+  public String getName() {
+    return SimDeviceJNI.getSimDeviceName(m_handle);
+  }
+
   /**
    * Creates a value on the simulated device.
    *

hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java

@@ -33,6 +33,14 @@ public class SimDeviceJNI extends JNIWrapper {
    */
   public static native void freeSimDevice(int handle);
 
+  /**
+   * Get the name of a simulated device.
+   *
+   * @param handle simulated device handle
+   * @return name of the simulated device
+   */
+  public static native String getSimDeviceName(int handle);
+
   private static native int createSimValueNative(
       int device, String name, int direction, int type, long value1, double value2);
 

hal/src/main/native/athena/SimDevice.cpp

@@ -12,6 +12,10 @@ HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) {
 
 void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {}
 
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+  return "";
+}
+
 HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
                                       const char* name, int32_t direction,
                                       const struct HAL_Value* initialValue) {

hal/src/main/native/cpp/jni/SimDeviceJNI.cpp

@@ -63,6 +63,18 @@ Java_edu_wpi_first_hal_SimDeviceJNI_freeSimDevice
   HAL_FreeSimDevice(handle);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_SimDeviceJNI
+ * Method:    getSimDeviceName
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimDeviceName
+  (JNIEnv* env, jclass, jint handle)
+{
+  return MakeJString(env, HAL_GetSimDeviceName(handle));
+}
+
 /*
  * Class:     edu_wpi_first_hal_SimDeviceJNI
  * Method:    createSimValueNative

hal/src/main/native/include/hal/SimDevice.h

@@ -9,6 +9,7 @@
 #ifdef __cplusplus
 #include <initializer_list>
 #include <span>
+#include <string>
 #endif
 
 #include "hal/Types.h"
@@ -66,6 +67,14 @@ HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name);
  */
 void HAL_FreeSimDevice(HAL_SimDeviceHandle handle);
 
+/**
+ * Get the name of a simulated device
+ *
+ * @param handle simulated device handle
+ * @return name of the simulated device
+ */
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle);
+
 /**
  * Creates a value on a simulated device.
  *
@@ -731,6 +740,15 @@ class SimDevice {
    */
   operator HAL_SimDeviceHandle() const { return m_handle; }  // NOLINT
 
+  /**
+   * Get the name of the simulated device.
+   *
+   * @return name
+   */
+  std::string GetName() const {
+    return std::string(HAL_GetSimDeviceName(m_handle));
+  }
+
   /**
    * Creates a value on the simulated device.
    *

hal/src/main/native/sim/SimDevice.cpp

@@ -26,6 +26,10 @@ void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {
   SimSimDeviceData->FreeDevice(handle);
 }
 
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+  return SimSimDeviceData->GetDeviceName(handle);
+}
+
 HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
                                       const char* name, int32_t direction,
                                       const struct HAL_Value* initialValue) {

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

@@ -27,6 +27,12 @@ SimDeviceSim::SimDeviceSim(const char* name, int index, int channel) {
       fmt::format("{}[{},{}]", name, index, channel).c_str());
 }
 
+SimDeviceSim::SimDeviceSim(HAL_SimDeviceHandle handle) : m_handle(handle) {}
+
+std::string SimDeviceSim::GetName() const {
+  return std::string(HALSIM_GetSimDeviceName(m_handle));
+}
+
 hal::SimValue SimDeviceSim::GetValue(const char* name) const {
   return HALSIM_GetSimValueHandle(m_handle, name);
 }

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

@@ -42,6 +42,20 @@ class SimDeviceSim {
    */
   SimDeviceSim(const char* name, int index, int channel);
 
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param handle the low level handle for the corresponding SimDevice.
+   */
+  explicit SimDeviceSim(HAL_SimDeviceHandle handle);
+
+  /**
+   * Get the name of this object.
+   *
+   * @return name
+   */
+  std::string GetName() const;
+
   /**
    * Get the property object with the given name.
    *

wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp

@@ -20,6 +20,8 @@ TEST(SimDeviceSimTest, Basic) {
   EXPECT_FALSE(simBool.Get());
   simBool.Set(true);
   EXPECT_TRUE(devBool.Get());
+
+  EXPECT_EQ(sim.GetName(), "test");
 }
 
 TEST(SimDeviceSimTest, EnumerateDevices) {

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

@@ -24,7 +24,7 @@ public class SimDeviceSim {
    * @param name name of the SimDevice
    */
   public SimDeviceSim(String name) {
-    m_handle = SimDeviceDataJNI.getSimDeviceHandle(name);
+    this(SimDeviceDataJNI.getSimDeviceHandle(name));
   }
 
   /**
@@ -48,6 +48,24 @@ public class SimDeviceSim {
     this(name + "[" + index + "," + channel + "]");
   }
 
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param handle the low level handle for the corresponding SimDevice
+   */
+  public SimDeviceSim(int handle) {
+    m_handle = handle;
+  }
+
+  /**
+   * Get the name of this object.
+   *
+   * @return name
+   */
+  public String getName() {
+    return SimDeviceDataJNI.getSimDeviceName(m_handle);
+  }
+
   /**
    * Get the property object with the given name.
    *

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java

@@ -27,6 +27,8 @@ class SimDeviceSimTest {
       assertFalse(simBool.get());
       simBool.set(true);
       assertTrue(devBool.get());
+
+      assertEquals(dev.getName(), "test");
     }
   }