Add names to simulator components (#1268)

Makes configuration easier when you can associate the items with a name
instead of just a port number. Important if there is a GUI added at some
point.

simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h

@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class AccelerometerSim {
+class AccelerometerSim : public virtual SimulatorComponent {
  public:
   virtual double GetAcceleration() = 0;
   virtual void SetAcceleration(double acceleration) = 0;

simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h

@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class EncoderSim {
+class EncoderSim : public virtual SimulatorComponent {
  public:
   virtual void SetPosition(double position) = 0;
   virtual void SetVelocity(double velocity) = 0;

simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h

@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class GyroSim {
+class GyroSim : public virtual SimulatorComponent {
  public:
   virtual void SetAngle(double angle) = 0;
   virtual double GetAngle() = 0;

simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h

@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class MotorSim {
+class MotorSim : public virtual SimulatorComponent {
  public:
   virtual double GetPosition() const = 0;
   virtual double GetVelocity() const = 0;

simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h

@@ -10,16 +10,22 @@
 #include <functional>
 
 #include "lowfisim/AccelerometerSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class SimpleAccelerometerSim : public AccelerometerSim {
+class SimpleAccelerometerSim : public SimulatorComponentBase,
+                               public AccelerometerSim {
  public:
-  SimpleAccelerometerSim(const std::function<void(double)>& setterFunction,
+  using SimulatorComponentBase::GetDisplayName;
+
+  SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
+                         const std::function<void(double)>& setterFunction,
                          const std::function<double(void)>& getterFunction)
-      : m_setAccelerationFunction(setterFunction),
+      : m_isInitializedFunction(initializedFunction),
+        m_setAccelerationFunction(setterFunction),
         m_getAccelerationFunction(getterFunction) {}
   double GetAcceleration() override { return m_getAccelerationFunction(); }
 
@@ -27,7 +33,12 @@ class SimpleAccelerometerSim : public AccelerometerSim {
     m_setAccelerationFunction(acceleration);
   }
 
+  bool IsWrapperInitialized() const override {
+    return m_isInitializedFunction();
+  }
+
  private:
+  std::function<bool(void)> m_isInitializedFunction;
   std::function<void(double)> m_setAccelerationFunction;
   std::function<double(void)> m_getAccelerationFunction;
 };

simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponent {
+ public:
+  virtual ~SimulatorComponent() = default;
+
+  virtual bool IsWrapperInitialized() const = 0;
+
+  virtual const std::string& GetDisplayName() const = 0;
+
+  virtual void SetDisplayName(const std::string& displayName) = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponentBase : public virtual SimulatorComponent {
+ public:
+  SimulatorComponentBase() = default;
+  virtual ~SimulatorComponentBase() = default;
+
+  const std::string& GetDisplayName() const override;
+
+  void SetDisplayName(const std::string& displayName) override;
+
+ private:
+  std::string m_name;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h

@@ -9,15 +9,18 @@
 
 #include "ADXRS450_SpiGyroWrapperData.h"
 #include "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class ADXRS450_SpiGyroSim : public GyroSim {
+class ADXRS450_SpiGyroSim : public SimulatorComponentBase, public GyroSim {
  public:
   explicit ADXRS450_SpiGyroSim(int spiPort);
 
+  bool IsWrapperInitialized() const override;
+
   void SetAngle(double angle) override;
   double GetAngle() override;
 

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h

@@ -8,16 +8,19 @@
 #pragma once
 
 #include "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 #include "simulation/AnalogGyroSim.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class WpiAnalogGyroSim : public GyroSim {
+class WpiAnalogGyroSim : public SimulatorComponentBase, public GyroSim {
  public:
   explicit WpiAnalogGyroSim(int index);
 
+  bool IsWrapperInitialized() const override;
+
   void SetAngle(double angle) override;
   double GetAngle() override;
 

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h

@@ -8,15 +8,17 @@
 #pragma once
 
 #include "lowfisim/EncoderSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 #include "simulation/EncoderSim.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class WpiEncoderSim : public EncoderSim {
+class WpiEncoderSim : public SimulatorComponentBase, public EncoderSim {
  public:
   explicit WpiEncoderSim(int index);
+  bool IsWrapperInitialized() const override;
 
   void SetPosition(double position) override;
   void SetVelocity(double velocity) override;

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include "lowfisim/MotorSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 #include "lowfisim/motormodel/MotorModel.h"
 #include "simulation/PWMSim.h"
 
@@ -15,9 +16,10 @@ namespace frc {
 namespace sim {
 namespace lowfi {
 
-class WpiMotorSim : public MotorSim {
+class WpiMotorSim : public SimulatorComponentBase, public MotorSim {
  public:
   explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
+  bool IsWrapperInitialized() const override;
 
   void Update(double elapsedTime);
   double GetPosition() const override;