Add initial support for encoders in simulation

patches/src/main/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java

@@ -3,6 +3,8 @@
 import java.nio.IntBuffer;
 import java.nio.LongBuffer;
 
+import jaci.openrio.toast.core.loader.simulation.SimulationData;
+
 /**
  * Analog Input/Output
  */
@@ -92,7 +94,7 @@ public static boolean getAnalogTriggerTriggerState(long analog_trigger_pointer){
 	}
 
 	public static short getAnalogValue(long analog_port_pointer){
-		return 0;
+		return SimulationData.analogValues[(int) analog_port_pointer];
 	}
 
 	public static double getAnalogVoltage(long analog_port_pointer){

patches/src/main/java/edu/wpi/first/wpilibj/hal/EncoderJNI.java

@@ -0,0 +1,61 @@
+package edu.wpi.first.wpilibj.hal;
+
+import java.nio.IntBuffer;
+
+import jaci.openrio.toast.core.loader.simulation.encoder.EncoderReg;
+
+/**
+ * JNIWrapper for encoders
+ */
+public class EncoderJNI extends JNIWrapper {
+
+    public static long initializeEncoder(byte port_a_module, int port_a_pin,
+              boolean port_a_analog_trigger, byte port_b_module, int port_b_pin, boolean port_b_analog_trigger,
+              boolean reverseDirection, IntBuffer index){
+    	long pointer = EncoderReg.wrappers.size();
+    	EncoderReg.wrappers.put(pointer, new EncoderReg.EncoderWrapper());
+        return pointer;
+    }
+
+    public static void freeEncoder(long encoder_pointer){
+    }
+
+    public static void resetEncoder(long encoder_pointer){
+    }
+
+    public static int getEncoder(long encoder_pointer){
+        return 4 * EncoderReg.wrappers.get(encoder_pointer).getValue();
+    }
+
+    public static double getEncoderPeriod(long encoder_pointer){
+        return 1 / EncoderReg.wrappers.get(encoder_pointer).getRate();
+    }
+
+    public static void setEncoderMaxPeriod(long encoder_pointer, double maxPeriod){
+    }
+
+    public static boolean getEncoderStopped(long encoder_pointer){
+        return false;
+    }
+
+    public static boolean getEncoderDirection(long encoder_pointer){
+        return false;
+    }
+
+    public static void setEncoderReverseDirection(long encoder_pointer,
+              boolean reverseDirection){
+    }
+
+    public static void setEncoderSamplesToAverage(long encoder_pointer,
+              int samplesToAverage){
+    }
+
+    public static int getEncoderSamplesToAverage(long encoder_pointer){
+        return 0;
+    }
+
+    public static void setEncoderIndexSource(long digital_port, int pin,
+              boolean analogTrigger, boolean activeHigh, boolean edgeSensitive){
+    }
+
+}

src/main/java/jaci/openrio/toast/core/loader/simulation/SimulationData.java

@@ -26,6 +26,11 @@ public class SimulationData {
      */
     public static byte[] dioValues = new byte[10];
     public static byte[] dioDirections = new byte[10];
+
+    /**
+     * ANALOG INPUT *
+     */
+    public static short[] analogValues = new short[4];
 
     /**
      * Set the Digital IO on the given port with the given value

src/main/java/jaci/openrio/toast/core/loader/simulation/SimulationGUI.java

@@ -1,17 +1,28 @@
 package jaci.openrio.toast.core.loader.simulation;
 
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.Font;
+import java.awt.Graphics;
+import java.awt.Graphics2D;
+import java.awt.Image;
+import java.awt.RenderingHints;
+import java.awt.event.WindowAdapter;
+import java.awt.event.WindowEvent;
+
+import javax.imageio.ImageIO;
+import javax.swing.ImageIcon;
+import javax.swing.JFrame;
+import javax.swing.JLabel;
+import javax.swing.JPanel;
+
 import jaci.openrio.toast.core.Toast;
+import jaci.openrio.toast.core.loader.simulation.encoder.EncoderGUI;
 import jaci.openrio.toast.core.loader.simulation.jni.InterruptContainer;
 import jaci.openrio.toast.core.loader.simulation.srx.TalonSRX_GUI;
 import jaci.openrio.toast.lib.profiler.Profiler;
 import jaci.openrio.toast.lib.state.RobotState;
 
-import javax.imageio.ImageIO;
-import javax.swing.*;
-import java.awt.*;
-import java.awt.event.WindowAdapter;
-import java.awt.event.WindowEvent;
-
 /**
  * This is the Rat's nest of code that is the Simulation GUI. There is no clean way to programmatically create a GUI
  * with Swing. Most of the code called in this class is only called once, at runtime. This class is mostly self-contained
@@ -173,7 +184,7 @@ public void callback(double value) {
                 }
             });
         }
-
+        
         createLabel("Power", 210, 10, 100, 14, new Color(180, 180, 180));
 
         GuiNumberSpinner voltage = new GuiNumberSpinner(205, 30, 12.5, 0.1, 5, 12.8, true, this);
@@ -236,6 +247,34 @@ public void onClick() {
             }
             public void onToggle(boolean state) { }
         });
+
+        GuiButton encoderButton = new GuiButton(20, 180, 100, 30, false, "Encoders", false, this);
+        encoderButton.setCallback(new GuiButton.ButtonCallback() {
+
+			/* (non-Javadoc)
+			 * @see jaci.openrio.toast.core.loader.simulation.GuiButton.ButtonCallback#onToggle(boolean)
+			 */
+			public void onToggle(boolean state) {
+			}
+
+			/* (non-Javadoc)
+			 * @see jaci.openrio.toast.core.loader.simulation.GuiButton.ButtonCallback#onClick()
+			 */
+			@Override
+			public void onClick() {
+				openEncoder();
+			}
+		});
+
+        // GuiNumberSpinners for controlling analog input
+        GuiNumberSpinner analog0 = new GuiNumberSpinner(355, 470, 0, 1, -10, 10, true, this);
+        analog0.setCallback(value -> SimulationData.analogValues[0] = (short) value);
+        GuiNumberSpinner analog1 = new GuiNumberSpinner(380, 485, 0, 1, -10, 10, true, this);
+        analog1.setCallback(value -> SimulationData.analogValues[1] = (short) value);
+        GuiNumberSpinner analog2 = new GuiNumberSpinner(410, 470, 0, 1, -10, 10, true, this);
+        analog2.setCallback(value -> SimulationData.analogValues[2] = (short) value);
+        GuiNumberSpinner analog3 = new GuiNumberSpinner(435, 485, 0, 1, -10, 10, true, this);
+        analog3.setCallback(value -> SimulationData.analogValues[3] = (short) value);
     }
 
     /**
@@ -253,6 +292,14 @@ public void openPneumatics() {
         if (PneumaticsGUI.INSTANCE == null)
             PneumaticsGUI.create();
     }
+
+    /**
+     * Open the Encoder GUI
+     */
+    public void openEncoder(){
+    	if (EncoderGUI.INSTANCE == null)
+    		EncoderGUI.create();
+    }
 
     /**
      * Create a JLabel to place next to various components.

src/main/java/jaci/openrio/toast/core/loader/simulation/encoder/EncoderGUI.java

@@ -0,0 +1,127 @@
+package jaci.openrio.toast.core.loader.simulation.encoder;
+
+import java.awt.Color;
+import java.awt.Dimension;
+import java.awt.event.WindowAdapter;
+import java.awt.event.WindowEvent;
+
+import javax.swing.JFrame;
+import javax.swing.JLabel;
+import javax.swing.JPanel;
+
+import jaci.openrio.toast.core.loader.simulation.GuiNumberSpinner;
+import jaci.openrio.toast.core.loader.simulation.GuiNumberSpinner.Callback;
+
+/**
+ * Panel for simulated encoders
+ * 
+ * @author LoadingPleaseWait
+ */
+public class EncoderGUI extends JPanel {
+
+	private static final long serialVersionUID = -5795176560686508623L;
+
+	public static EncoderGUI INSTANCE;
+
+    /**
+     * @return EncoderGUI instance
+     */
+    public static JPanel create() {
+        JFrame frame = new JFrame("Toast Encoder GUI");
+        JPanel panel = new EncoderGUI();
+        frame.add(panel);
+        frame.pack();
+        frame.setLocationRelativeTo(null);
+        frame.setPreferredSize(new Dimension(400, 375));
+        frame.setVisible(true);
+        frame.setResizable(true);
+        frame.addWindowListener(new WindowAdapter() {
+            /* (non-Javadoc)
+             * @see java.awt.event.WindowAdapter#windowOpened(java.awt.event.WindowEvent)
+             */
+            @Override
+            public void windowOpened(WindowEvent event) {
+                super.windowOpened(event);
+            }
+
+            /* (non-Javadoc)
+             * @see java.awt.event.WindowAdapter#windowClosing(java.awt.event.WindowEvent)
+             */
+            @Override
+            public void windowClosing(WindowEvent event) {
+                super.windowClosing(event);
+                INSTANCE = null;
+            }
+        });
+
+        return panel;
+    }
+
+	/**
+	 * Set up the JPanel
+	 */
+	public EncoderGUI(){
+		INSTANCE = this;
+
+		this.setBackground(new Color(11, 11, 11));
+        this.setPreferredSize(new Dimension(400, 375));
+        this.setVisible(true);
+        this.setLayout(null);
+
+        initElements();
+	}
+
+	/**
+	 * Remove everything and then add everything back
+	 */
+	public void reinitElements(){
+		removeAll();
+		initElements();
+	}
+
+	/**
+	 * Initialize elements in the panel
+	 */
+	public void initElements(){
+		// labels and number spinners for each encoder
+		for(Long key : EncoderReg.wrappers.keySet()){
+			JLabel encoderLabel = new JLabel("Encoder " + key);
+	        encoderLabel.setForeground(Color.WHITE);// white text
+	        encoderLabel.setBounds(10, key.intValue() * 20 + 10, 100, 20);
+	        add(encoderLabel);
+	        // encoder value
+	        JLabel countLabel = new JLabel("Count");
+	        countLabel.setForeground(Color.WHITE);
+	        countLabel.setBounds(120, key.intValue() * 20 + 10, 100, 20);
+	        add(countLabel);
+			GuiNumberSpinner countSpinner = new GuiNumberSpinner(170, key.intValue() * 20 + 15, 0, 1, -10, 10, true, this);
+			countSpinner.setCallback(new Callback() {
+
+				/* (non-Javadoc)
+				 * @see jaci.openrio.toast.core.loader.simulation.GuiNumberSpinner.Callback#callback(double)
+				 */
+				@Override
+				public void callback(double value) {
+					EncoderReg.wrappers.get(key).setValue((int) value);
+				}
+			});
+			// encoder rate
+			JLabel rateLabel = new JLabel("Rate");
+			rateLabel.setForeground(Color.WHITE);
+			rateLabel.setBounds(260, key.intValue() * 20 + 10, 100, 20);
+			add(rateLabel);
+			GuiNumberSpinner rateSpinner = new GuiNumberSpinner(300, key.intValue() * 20 + 15, 1, 0.1, -5, 5, true, this);
+			rateSpinner.setCallback(new Callback() {
+
+				/* (non-Javadoc)
+				 * @see jaci.openrio.toast.core.loader.simulation.GuiNumberSpinner.Callback#callback(double)
+				 */
+				@Override
+				public void callback(double value) {
+					EncoderReg.wrappers.get(key).setRate(value);
+				}
+			});
+		}
+	}
+
+}

src/main/java/jaci/openrio/toast/core/loader/simulation/encoder/EncoderReg.java

@@ -0,0 +1,52 @@
+package jaci.openrio.toast.core.loader.simulation.encoder;
+
+import java.util.HashMap;
+
+/**
+ * Registry for simulated encoders
+ * 
+ * @author LoadingPleaseWait
+ */
+public class EncoderReg {
+
+	public static HashMap<Long, EncoderWrapper> wrappers = new HashMap<>();
+
+	/**
+	 * Wrapper for simulated encoders to be put in the EncoderRegistry
+	 */
+	public static class EncoderWrapper{
+
+		private int value;
+		private double rate;
+
+		/**
+		 * @return the value
+		 */
+		public int getValue() {
+			return value;
+		}
+
+		/**
+		 * @param value the value to set
+		 */
+		public void setValue(int value) {
+			this.value = value;
+		}
+
+		/**
+		 * @return the rate
+		 */
+		public double getRate() {
+			return rate;
+		}
+
+		/**
+		 * @param rate the rate to set
+		 */
+		public void setRate(double rate) {
+			this.rate = rate;
+		}
+
+	}
+
+}

src/main/resources/assets/toast/patches/patches.txt

@@ -8,6 +8,7 @@ edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.sim
 edu/wpi/first/wpilibj/hal/AccelerometerJNI.sim
 edu/wpi/first/wpilibj/hal/AnalogJNI.sim
 edu/wpi/first/wpilibj/hal/DIOJNI.sim
+edu/wpi/first/wpilibj/hal/EncoderJNI.sim
 edu/wpi/first/wpilibj/hal/HALUtil.sim
 edu/wpi/first/wpilibj/hal/InterruptJNI$InterruptJNIHandlerFunction.sim
 edu/wpi/first/wpilibj/hal/InterruptJNI.sim
@@ -19,4 +20,4 @@ edu/wpi/first/wpilibj/hal/RelayJNI.sim
 edu/wpi/first/wpilibj/hal/SolenoidJNI.sim
 edu/wpi/first/wpilibj/hal/CanTalonJNI.sim
 edu/wpi/first/wpilibj/hal/DigitalGlitchFilterJNI.sim
-edu/wpi/first/wpilibj/hal/NotifierJNI.sim
+edu/wpi/first/wpilibj/hal/NotifierJNI.sim