[hal, wpilib] PWM Rewrite (#7845)

The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.

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

@@ -0,0 +1,30 @@
+// 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 <hal/SimDevice.h>
+#include <units/length.h>
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+class PWMMotorController;
+
+namespace sim {
+
+class PWMMotorControllerSim {
+ public:
+  explicit PWMMotorControllerSim(const PWMMotorController& motorctrl);
+
+  explicit PWMMotorControllerSim(int channel);
+
+  double GetSpeed() const;
+
+ private:
+  hal::SimDouble m_simSpeed;
+};
+}  // namespace sim
+}  // namespace frc

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

@@ -27,13 +27,6 @@ class PWMSim {
    */
   explicit PWMSim(const PWM& pwm);
 
-  /**
-   * Constructs from a PWMMotorController object.
-   *
-   * @param motorctrl PWMMotorController to simulate
-   */
-  explicit PWMSim(const PWMMotorController& motorctrl);
-
   /**
    * Constructs from a PWM channel number.
    *
@@ -91,56 +84,6 @@ class PWMSim {
    */
   void SetPulseMicrosecond(int32_t microsecondPulseTime);
 
-  /**
-   * Register a callback to be run when the PWM speed changes.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to run the callback with the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterSpeedCallback(NotifyCallback callback,
-                                                       bool initialNotify);
-
-  /**
-   * Get the PWM speed.
-   *
-   * @return the PWM speed (-1.0 to 1.0)
-   */
-  double GetSpeed() const;
-
-  /**
-   * Set the PWM speed.
-   *
-   * @param speed the PWM speed (-1.0 to 1.0)
-   */
-  void SetSpeed(double speed);
-
-  /**
-   * Register a callback to be run when the PWM position changes.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to run the callback with the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterPositionCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Get the PWM position.
-   *
-   * @return the PWM position (0.0 to 1.0)
-   */
-  double GetPosition() const;
-
-  /**
-   * Set the PWM position.
-   *
-   * @param position the PWM position (0.0 to 1.0)
-   */
-  void SetPosition(double position);
-
   /**
    * Register a callback to be run when the PWM period scale changes.
    *
@@ -149,7 +92,7 @@ class PWMSim {
    * @return the CallbackStore object associated with this callback
    */
   [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterPeriodScaleCallback(
+  std::unique_ptr<CallbackStore> RegisterOutputPeriodCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -157,39 +100,14 @@ class PWMSim {
    *
    * @return the PWM period scale
    */
-  int GetPeriodScale() const;
+  int GetOutputPeriod() const;
 
   /**
    * Set the PWM period scale.
    *
-   * @param periodScale the PWM period scale
+   * @param period the PWM period scale
    */
-  void SetPeriodScale(int periodScale);
-
-  /**
-   * Register a callback to be run when the PWM zero latch state changes.
-   *
-   * @param callback the callback
-   * @param initialNotify whether to run the callback with the initial state
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterZeroLatchCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Check whether the PWM is zero latched.
-   *
-   * @return true if zero latched
-   */
-  bool GetZeroLatch() const;
-
-  /**
-   * Define whether the PWM has been zero latched.
-   *
-   * @param zeroLatch true to indicate zero latched
-   */
-  void SetZeroLatch(bool zeroLatch);
+  void SetOutputPeriod(int period);
 
   /**
    * Reset all simulation data.

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

@@ -0,0 +1,31 @@
+// 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 <hal/SimDevice.h>
+#include <units/length.h>
+
+#include "frc/Servo.h"
+
+namespace frc {
+
+class Servo;
+
+namespace sim {
+class ServoSim {
+ public:
+  explicit ServoSim(const Servo& servo);
+
+  explicit ServoSim(int channel);
+
+  double GetPosition() const;
+
+  double GetAngle() const;
+
+ private:
+  hal::SimDouble m_simPosition;
+};
+}  // namespace sim
+}  // namespace frc