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[glass] Split DataSource into type-specific variants (#7588)

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This commit is contained in:
Peter Johnson
2025-01-03 13:36:40 -08:00
committed by GitHub
parent 148fcdca85
commit 0f6693594c
62 changed files with 667 additions and 390 deletions
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68
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -197,11 +197,11 @@ class JoystickModel {
int axisCount;
int buttonCount;
int povCount;
std::unique_ptr<glass::DataSource> axes[HAL_kMaxJoystickAxes];
std::unique_ptr<glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
// use pointer instead of unique_ptr to allow it to be passed directly
// to DrawLEDSources()
glass::DataSource* buttons[32];
std::unique_ptr<glass::DataSource> povs[HAL_kMaxJoystickPOVs];
glass::BooleanSource* buttons[32];
std::unique_ptr<glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];
private:
static void CallbackFunc(const char*, void* param, const HAL_Value*);
@@ -214,19 +214,18 @@ class FMSSimModel : public glass::FMSModel {
public:
FMSSimModel();
glass::DataSource* GetFmsAttachedData() override { return &m_fmsAttached; }
glass::DataSource* GetDsAttachedData() override { return &m_dsAttached; }
glass::DataSource* GetAllianceStationIdData() override {
glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
glass::IntegerSource* GetAllianceStationIdData() override {
return &m_allianceStationId;
}
glass::DataSource* GetMatchTimeData() override { return &m_matchTime; }
glass::DataSource* GetEStopData() override { return &m_estop; }
glass::DataSource* GetEnabledData() override { return &m_enabled; }
glass::DataSource* GetTestData() override { return &m_test; }
glass::DataSource* GetAutonomousData() override { return &m_autonomous; }
std::string_view GetGameSpecificMessage(
wpi::SmallVectorImpl<char>& buf) override {
return m_gameMessage;
glass::DoubleSource* GetMatchTimeData() override { return &m_matchTime; }
glass::BooleanSource* GetEStopData() override { return &m_estop; }
glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
glass::BooleanSource* GetTestData() override { return &m_test; }
glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
glass::StringSource* GetGameSpecificMessageData() override {
return &m_gameMessage;
}
void SetFmsAttached(bool val) override { m_fmsAttached.SetValue(val); }
@@ -240,7 +239,7 @@ class FMSSimModel : public glass::FMSModel {
void SetTest(bool val) override { m_test.SetValue(val); }
void SetAutonomous(bool val) override { m_autonomous.SetValue(val); }
void SetGameSpecificMessage(std::string_view val) override {
m_gameMessage = val;
m_gameMessage.SetValue(val);
}
void UpdateHAL();
@@ -252,16 +251,16 @@ class FMSSimModel : public glass::FMSModel {
bool IsReadOnly() override;
private:
glass::DataSource m_fmsAttached{"FMS:FMSAttached"};
glass::DataSource m_dsAttached{"FMS:DSAttached"};
glass::DataSource m_allianceStationId{"FMS:AllianceStationID"};
glass::DataSource m_matchTime{"FMS:MatchTime"};
glass::DataSource m_estop{"FMS:EStop"};
glass::DataSource m_enabled{"FMS:RobotEnabled"};
glass::DataSource m_test{"FMS:TestMode"};
glass::DataSource m_autonomous{"FMS:AutonomousMode"};
glass::BooleanSource m_fmsAttached{"FMS:FMSAttached"};
glass::BooleanSource m_dsAttached{"FMS:DSAttached"};
glass::IntegerSource m_allianceStationId{"FMS:AllianceStationID"};
glass::DoubleSource m_matchTime{"FMS:MatchTime"};
glass::BooleanSource m_estop{"FMS:EStop"};
glass::BooleanSource m_enabled{"FMS:RobotEnabled"};
glass::BooleanSource m_test{"FMS:TestMode"};
glass::BooleanSource m_autonomous{"FMS:AutonomousMode"};
double m_startMatchTime = -1.0;
std::string m_gameMessage;
glass::StringSource m_gameMessage{"FMS:GameSpecificMessage"};
};
} // namespace
@@ -297,7 +296,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
HALSIM_GetJoystickAxes(index, &halAxes);
axisCount = halAxes.count;
for (int i = 0; i < axisCount; ++i) {
axes[i] = std::make_unique<glass::DataSource>(
axes[i] = std::make_unique<glass::DoubleSource>(
fmt::format("Joystick[{}] Axis[{}]", index, i));
}
@@ -305,9 +304,8 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
HALSIM_GetJoystickButtons(index, &halButtons);
buttonCount = halButtons.count;
for (int i = 0; i < buttonCount; ++i) {
buttons[i] = new glass::DataSource(
buttons[i] = new glass::BooleanSource(
fmt::format("Joystick[{}] Button[{}]", index, i + 1));
buttons[i]->SetDigital(true);
}
for (int i = buttonCount; i < 32; ++i) {
buttons[i] = nullptr;
@@ -317,7 +315,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
HALSIM_GetJoystickPOVs(index, &halPOVs);
povCount = halPOVs.count;
for (int i = 0; i < povCount; ++i) {
povs[i] = std::make_unique<glass::DataSource>(
povs[i] = std::make_unique<glass::IntegerSource>(
fmt::format("Joystick[{}] POV [{}]", index, i));
}
@@ -1149,12 +1147,6 @@ static void DriverStationExecute() {
}
FMSSimModel::FMSSimModel() {
m_fmsAttached.SetDigital(true);
m_dsAttached.SetDigital(true);
m_estop.SetDigital(true);
m_enabled.SetDigital(true);
m_test.SetDigital(true);
m_autonomous.SetDigital(true);
m_matchTime.SetValue(-1.0);
m_allianceStationId.SetValue(HAL_AllianceStationID_kRed1);
}
@@ -1168,7 +1160,7 @@ void FMSSimModel::UpdateHAL() {
HALSIM_SetDriverStationTest(m_test.GetValue());
HALSIM_SetDriverStationAutonomous(m_autonomous.GetValue());
HALSIM_SetDriverStationMatchTime(m_matchTime.GetValue());
auto str = wpi::make_string(m_gameMessage);
auto str = wpi::make_string(m_gameMessage.GetValue());
HALSIM_SetGameSpecificMessage(&str);
HALSIM_SetDriverStationDsAttached(m_dsAttached.GetValue());
}
@@ -1206,8 +1198,10 @@ void FMSSimModel::Update() {
HAL_MatchInfo info;
HALSIM_GetMatchInfo(&info);
m_gameMessage.assign(info.gameSpecificMessage,
info.gameSpecificMessage + info.gameSpecificMessageSize);
m_gameMessage.SetValue(
std::string_view{reinterpret_cast<const char*>(info.gameSpecificMessage),
reinterpret_cast<const char*>(info.gameSpecificMessage) +
info.gameSpecificMessageSize});
}
bool FMSSimModel::IsReadOnly() {