[hal] Add SimInt and SimLong wrappers for int/long SimValue (#3066)

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

@@ -81,6 +81,36 @@ public class SimDeviceJNI extends JNIWrapper {
         initialValue.getNativeDouble());
   }
 
+  /**
+   * Creates an int value on a simulated device.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated value handle
+   */
+  public static int createSimValueInt(int device, String name, int direction, int initialValue) {
+    return createSimValueNative(device, name, direction, HALValue.kInt, initialValue, 0.0);
+  }
+
+  /**
+   * Creates a long value on a simulated device.
+   *
+   * <p>Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.
+   *
+   * @param device simulated device handle
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated value handle
+   */
+  public static int createSimValueLong(int device, String name, int direction, long initialValue) {
+    return createSimValueNative(device, name, direction, HALValue.kLong, initialValue, 0.0);
+  }
+
   /**
    * Creates a double value on a simulated device.
    *
@@ -221,6 +251,22 @@ public class SimDeviceJNI extends JNIWrapper {
    */
   public static native HALValue getSimValue(int handle);
 
+  /**
+   * Gets a simulated value (int).
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native int getSimValueInt(int handle);
+
+  /**
+   * Gets a simulated value (long).
+   *
+   * @param handle simulated value handle
+   * @return The current value
+   */
+  public static native long getSimValueLong(int handle);
+
   /**
    * Gets a simulated value (double).
    *
@@ -257,6 +303,26 @@ public class SimDeviceJNI extends JNIWrapper {
     setSimValueNative(handle, value.getType(), value.getNativeLong(), value.getNativeDouble());
   }
 
+  /**
+   * Sets a simulated value (int).
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValueInt(int handle, int value) {
+    setSimValueNative(handle, HALValue.kInt, value, 0.0);
+  }
+
+  /**
+   * Sets a simulated value (long).
+   *
+   * @param handle simulated value handle
+   * @param value the value to set
+   */
+  public static void setSimValueLong(int handle, long value) {
+    setSimValueNative(handle, HALValue.kLong, value, 0.0);
+  }
+
   /**
    * Sets a simulated value (double).
    *

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

@@ -0,0 +1,35 @@
+// 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.hal;
+
+/** A wrapper around a simulator int value handle. */
+public class SimInt extends SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueInt().
+   *
+   * @param handle simulated value handle
+   */
+  public SimInt(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public int get() {
+    return SimDeviceJNI.getSimValueInt(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void set(int value) {
+    SimDeviceJNI.setSimValueInt(m_handle, value);
+  }
+}

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

@@ -0,0 +1,35 @@
+// 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.hal;
+
+/** A wrapper around a simulator long value handle. */
+public class SimLong extends SimValue {
+  /**
+   * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueLong().
+   *
+   * @param handle simulated value handle
+   */
+  public SimLong(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  public long get() {
+    return SimDeviceJNI.getSimValueLong(m_handle);
+  }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  public void set(long value) {
+    SimDeviceJNI.setSimValueLong(m_handle, value);
+  }
+}

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

@@ -153,6 +153,30 @@ Java_edu_wpi_first_hal_SimDeviceJNI_getSimValue
   return hal::CreateHALValue(env, HAL_GetSimValue(handle));
 }
 
+/*
+ * Class:     edu_wpi_first_hal_SimDeviceJNI
+ * Method:    getSimValueInt
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueInt
+  (JNIEnv*, jclass, jint handle)
+{
+  return HAL_GetSimValueInt(handle);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_SimDeviceJNI
+ * Method:    getSimValueLong
+ * Signature: (I)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueLong
+  (JNIEnv*, jclass, jint handle)
+{
+  return HAL_GetSimValueLong(handle);
+}
+
 /*
  * Class:     edu_wpi_first_hal_SimDeviceJNI
  * Method:    getSimValueDouble

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

@@ -196,6 +196,30 @@ inline HAL_Value HAL_GetSimValue(HAL_SimValueHandle handle) {
 }  // extern "C++"
 #endif
 
+/**
+ * Gets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline int32_t HAL_GetSimValueInt(HAL_SimValueHandle handle) {
+  struct HAL_Value v;
+  HAL_GetSimValue(handle, &v);
+  return v.type == HAL_INT ? v.data.v_int : 0;
+}
+
+/**
+ * Gets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline int64_t HAL_GetSimValueLong(HAL_SimValueHandle handle) {
+  struct HAL_Value v;
+  HAL_GetSimValue(handle, &v);
+  return v.type == HAL_LONG ? v.data.v_long : 0;
+}
+
 /**
  * Gets a simulated value (double).
  *
@@ -248,6 +272,28 @@ inline void HAL_SetSimValue(HAL_SimValueHandle handle, const HAL_Value& value) {
 }  // extern "C++"
 #endif
 
+/**
+ * Sets a simulated value (int).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueInt(HAL_SimValueHandle handle, int value) {
+  struct HAL_Value v = HAL_MakeInt(value);
+  HAL_SetSimValue(handle, &v);
+}
+
+/**
+ * Sets a simulated value (long).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueLong(HAL_SimValueHandle handle, int64_t value) {
+  struct HAL_Value v = HAL_MakeLong(value);
+  HAL_SetSimValue(handle, &v);
+}
+
 /**
  * Sets a simulated value (double).
  *
@@ -342,6 +388,74 @@ class SimValue {
   HAL_SimValueHandle m_handle = HAL_kInvalidHandle;
 };
 
+/**
+ * C++ wrapper around a HAL simulator int value handle.
+ */
+class SimInt : public SimValue {
+ public:
+  /**
+   * Default constructor that results in an "empty" object that is false in
+   * a boolean context.
+   */
+  SimInt() = default;
+
+  /**
+   * Wraps a simulated value handle as returned by HAL_CreateSimValueInt().
+   *
+   * @param handle simulated value handle
+   */
+  /*implicit*/ SimInt(HAL_SimValueHandle val)  // NOLINT
+      : SimValue(val) {}
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  int32_t Get() const { return HAL_GetSimValueInt(m_handle); }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  void Set(int32_t value) { HAL_SetSimValueInt(m_handle, value); }
+};
+
+/**
+ * C++ wrapper around a HAL simulator long value handle.
+ */
+class SimLong : public SimValue {
+ public:
+  /**
+   * Default constructor that results in an "empty" object that is false in
+   * a boolean context.
+   */
+  SimLong() = default;
+
+  /**
+   * Wraps a simulated value handle as returned by HAL_CreateSimValueLong().
+   *
+   * @param handle simulated value handle
+   */
+  /*implicit*/ SimLong(HAL_SimValueHandle val)  // NOLINT
+      : SimValue(val) {}
+
+  /**
+   * Gets the simulated value.
+   *
+   * @return The current value
+   */
+  int64_t Get() const { return HAL_GetSimValueLong(m_handle); }
+
+  /**
+   * Sets the simulated value.
+   *
+   * @param value the value to set
+   */
+  void Set(int64_t value) { HAL_SetSimValueLong(m_handle, value); }
+};
+
 /**
  * C++ wrapper around a HAL simulator double value handle.
  */