[wpilib] Add on/off, forward/reverse/off boolean methods to Solenoid and DoubleSolenoids

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -110,6 +110,30 @@ void DoubleSolenoid::Toggle() {
   }
 }
 
+bool DoubleSolenoid::IsForward() {
+  return Get() == kForward;
+}
+
+bool DoubleSolenoid::IsReverse() {
+  return Get() == kReverse;
+}
+
+bool DoubleSolenoid::IsOff() {
+  return Get() == kOff;
+}
+
+void DoubleSolenoid::SetForward() {
+  Set(kForward);
+}
+
+void DoubleSolenoid::SetReverse() {
+  Set(kReverse);
+}
+
+void DoubleSolenoid::SetOff() {
+  Set(kOff);
+}
+
 int DoubleSolenoid::GetFwdChannel() const {
   return m_forwardChannel;
 }

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -54,6 +54,24 @@ bool Solenoid::Get() const {
   return (currentAll & m_mask) != 0;
 }
 
+bool Solenoid::IsOn() const {
+  int currentAll = m_module->GetSolenoids();
+  return (currentAll & m_mask) != 0;
+}
+
+bool Solenoid::IsOff() const {
+  int currentAll = m_module->GetSolenoids();
+  return (currentAll & m_mask) == 0;
+}
+
+void Solenoid::SetOn() {
+  Set(true);
+}
+
+void Solenoid::SetOff() {
+  Set(false);
+}
+
 void Solenoid::Toggle() {
   Set(!Get());
 }

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

@@ -7,6 +7,7 @@
 #include <memory>
 #include <utility>
 
+#include "frc/DoubleSolenoid.h"
 #include "frc/PneumaticsBase.h"
 
 using namespace frc;
@@ -46,6 +47,30 @@ void DoubleSolenoidSim::Set(DoubleSolenoid::Value output) {
   m_module->SetSolenoidOutput(m_rev, output == DoubleSolenoid::Value::kReverse);
 }
 
+bool DoubleSolenoidSim::IsForward() {
+  return Get() == DoubleSolenoid::Value::kForward;
+}
+
+bool DoubleSolenoidSim::IsReverse() {
+  return Get() == DoubleSolenoid::Value::kReverse;
+}
+
+bool DoubleSolenoidSim::IsOff() {
+  return Get() == DoubleSolenoid::Value::kOff;
+}
+
+void DoubleSolenoidSim::SetForward() {
+  Set(DoubleSolenoid::Value::kForward);
+}
+
+void DoubleSolenoidSim::SetReverse() {
+  Set(DoubleSolenoid::Value::kReverse);
+}
+
+void DoubleSolenoidSim::SetOff() {
+  Set(DoubleSolenoid::Value::kOff);
+}
+
 std::shared_ptr<PneumaticsBaseSim> DoubleSolenoidSim::GetModuleSim() const {
   return m_module;
 }

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

@@ -33,6 +33,22 @@ void SolenoidSim::SetOutput(bool output) {
   m_module->SetSolenoidOutput(m_channel, output);
 }
 
+bool SolenoidSim::IsOn() {
+  return m_module->GetSolenoidOutput(m_channel);
+}
+
+bool SolenoidSim::IsOff() {
+  return !m_module->GetSolenoidOutput(m_channel);
+}
+
+void SolenoidSim::SetOn() {
+  m_module->SetSolenoidOutput(m_channel, true);
+}
+
+void SolenoidSim::SetOff() {
+  m_module->SetSolenoidOutput(m_channel, false);
+}
+
 std::unique_ptr<CallbackStore> SolenoidSim::RegisterOutputCallback(
     NotifyCallback callback, bool initialNotify) {
   return m_module->RegisterSolenoidOutputCallback(m_channel, callback,

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -88,6 +88,39 @@ class DoubleSolenoid : public wpi::Sendable,
    */
   void Toggle();
 
+  /**
+   * Returns true if the double solenoid is in a forward state.
+   * @return true if the double solenoid is in a forward state.
+   */
+  bool IsForward();
+
+  /**
+   * Returns true if the double solenoid is in a reverse state.
+   * @return true if the double solenoid is in a reverse state.
+   */
+  bool IsReverse();
+
+  /**
+   * Returns true if the double solenoid is in an off state.
+   * @return true if the double solenoid is in an off state.
+   */
+  bool IsOff();
+
+  /**
+   * Sets the double solenoid to a forward state
+   */
+  void SetForward();
+
+  /**
+   * Sets the double solenoid to a reverse state
+   */
+  void SetReverse();
+
+  /**
+   * Sets the double solenoid to an off state
+   */
+  void SetOff();
+
   /**
    * Get the forward channel.
    *

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -61,6 +61,32 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
    */
   bool Get() const;
 
+  /**
+   * Returns true if the solenoid is on.
+   *
+   * @return true if the solenoid is on.
+   *
+   */
+  bool IsOn() const;
+
+  /**
+   * Returns true if the solenoid is off.
+   *
+   * @return true if the solenoid is off.
+   *
+   */
+  bool IsOff() const;
+
+  /**
+   * Turns the solenoid on.
+   */
+  void SetOn();
+
+  /**
+   * Turns the solenoid off.
+   */
+  void SetOff();
+
   /**
    * Toggle the value of the solenoid.
    *

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

@@ -22,6 +22,39 @@ class DoubleSolenoidSim {
   DoubleSolenoid::Value Get() const;
   void Set(DoubleSolenoid::Value output);
 
+  /**
+   * Returns true if the double solenoid is in a forward state.
+   * @return true if the double solenoid is in a forward state.
+   */
+  bool IsForward();
+
+  /**
+   * Returns true if the double solenoid is in a reverse state.
+   * @return true if the double solenoid is in a reverse state.
+   */
+  bool IsReverse();
+
+  /**
+   * Returns true if the double solenoid is in an off state.
+   * @return true if the double solenoid is in an off state.
+   */
+  bool IsOff();
+
+  /**
+   * Sets the double solenoid to a forward state
+   */
+  void SetForward();
+
+  /**
+   * Sets the double solenoid to a reverse state
+   */
+  void SetReverse();
+
+  /**
+   * Sets the double solenoid to an off state
+   */
+  void SetOff();
+
   std::shared_ptr<PneumaticsBaseSim> GetModuleSim() const;
 
  private:

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

@@ -18,9 +18,46 @@ class SolenoidSim {
   SolenoidSim(PneumaticsModuleType type, int channel);
   ~SolenoidSim() = default;
 
+  /**
+   * Returns the solenoid output.
+   * @return the solenoid output.
+   */
+  [[deprecated("Use IsOn or IsOff methods instead.")]]
   bool GetOutput() const;
+
+  /**
+   * Sets the solenoid output.
+   * @param output The new solenoid output.
+   */
+  [[deprecated("Use SetOn or SetOff methods instead.")]]
   void SetOutput(bool output);
 
+  /**
+   * Returns true if the solenoid is on.
+   *
+   * @return true if the solenoid is on.
+   *
+   */
+  bool IsOn();
+
+  /**
+   * Returns true if the solenoid is off.
+   *
+   * @return true if the solenoid is off.
+   *
+   */
+  bool IsOff();
+
+  /**
+   * Turns the solenoid on.
+   */
+  void SetOn();
+
+  /**
+   * Turns the solenoid off.
+   */
+  void SetOff();
+
   /**
    * Register a callback to be run when the output of this solenoid has changed.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -135,6 +135,21 @@ public void set(final Value value) {
     m_module.setSolenoids(m_mask, setValue);
   }
 
+  /** Sets the double solenoid to a forward state. */
+  public void setForward() {
+    set(Value.kForward);
+  }
+
+  /** Sets the double solenoid to a reverse state. */
+  public void setReverse() {
+    set(Value.kReverse);
+  }
+
+  /** Sets the double solenoid to a off state. */
+  public void setOff() {
+    set(Value.kOff);
+  }
+
   /**
    * Read the current value of the solenoid.
    *
@@ -152,6 +167,33 @@ public Value get() {
     }
   }
 
+  /**
+   * Returns true if the double solenoid is in a forward state.
+   *
+   * @return true if the double solenoid is in a forward state.
+   */
+  public boolean isForward() {
+    return get() == Value.kForward;
+  }
+
+  /**
+   * Returns true if the double solenoid is in a reverse state.
+   *
+   * @return true if the double solenoid is in a reverse state.
+   */
+  public boolean isReverse() {
+    return get() == Value.kReverse;
+  }
+
+  /**
+   * Returns true if the double solenoid is in an off state.
+   *
+   * @return true if the double solenoid in in an off state.
+   */
+  public boolean isOff() {
+    return get() == Value.kOff;
+  }
+
   /**
    * Toggle the value of the solenoid.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -88,6 +88,36 @@ public boolean get() {
     return (currentAll & m_mask) != 0;
   }
 
+  /**
+   * Returns true if the solenoid is on.
+   *
+   * @return true if the solenoid is on.
+   */
+  public boolean isOn() {
+    int currentAll = m_module.getSolenoids();
+    return (currentAll & m_mask) != 0;
+  }
+
+  /**
+   * Returns true if the solenoid is off.
+   *
+   * @return true if the solenoid off.
+   */
+  public boolean isOff() {
+    int currentAll = m_module.getSolenoids();
+    return (currentAll & m_mask) == 0;
+  }
+
+  /** Turns the solenoid on. */
+  public void setOn() {
+    set(true);
+  }
+
+  /** Turns the solenoid off. */
+  public void setOff() {
+    set(false);
+  }
+
   /**
    * Toggle the value of the solenoid.
    *