Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[sim] Add plotting to simulation GUI

Browse Source
This commit is contained in:
Peter Johnson
2020-08-14 20:02:35 -07:00
parent 70ba92f917
commit 1593eb4d47
29 changed files with 2550 additions and 301 deletions
Download Patch File Download Diff File Expand all files Collapse all files

73
simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.cpp
View File

@@ -8,38 +8,73 @@
#include "AnalogGyroGui.h"
#include <cstdio>
#include <memory>
#include <vector>
#include <hal/Ports.h>
#include <hal/Value.h>
#include <hal/simulation/AnalogGyroData.h>
#include <imgui.h>
#include "GuiDataSource.h"
#include "HALSimGui.h"
#include "SimDeviceGui.h"
using namespace halsimgui;
static void DisplayAnalogGyros() {
static int numAccum = HAL_GetNumAccumulators();
for (int i = 0; i < numAccum; ++i) {
if (!HALSIM_GetAnalogGyroInitialized(i)) continue;
char name[32];
std::snprintf(name, sizeof(name), "AnalogGyro[%d]", i);
if (SimDeviceGui::StartDevice(name)) {
HAL_Value value;
namespace {
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogGyroAngle, "AGyro Angle");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogGyroRate, "AGyro Rate");
struct AnalogGyroSource {
explicit AnalogGyroSource(int32_t index) : angle{index}, rate{index} {}
AnalogGyroAngleSource angle;
AnalogGyroRateSource rate;
};
} // namespace
// angle
value = HAL_MakeDouble(HALSIM_GetAnalogGyroAngle(i));
if (SimDeviceGui::DisplayValue("Angle", false, &value))
HALSIM_SetAnalogGyroAngle(i, value.data.v_double);
static std::vector<std::unique_ptr<AnalogGyroSource>> gAnalogGyroSources;
// rate
value = HAL_MakeDouble(HALSIM_GetAnalogGyroRate(i));
if (SimDeviceGui::DisplayValue("Rate", false, &value))
HALSIM_SetAnalogGyroRate(i, value.data.v_double);
SimDeviceGui::FinishDevice();
static void UpdateAnalogGyroSources() {
for (int i = 0, iend = gAnalogGyroSources.size(); i < iend; ++i) {
auto& source = gAnalogGyroSources[i];
if (HALSIM_GetAnalogGyroInitialized(i)) {
if (!source) {
source = std::make_unique<AnalogGyroSource>(i);
}
} else {
source.reset();
}
}
}
void AnalogGyroGui::Initialize() { SimDeviceGui::Add(DisplayAnalogGyros); }
static void DisplayAnalogGyros() {
for (int i = 0, iend = gAnalogGyroSources.size(); i < iend; ++i) {
if (auto source = gAnalogGyroSources[i].get()) {
char name[32];
std::snprintf(name, sizeof(name), "AnalogGyro[%d]", i);
if (SimDeviceGui::StartDevice(name)) {
HAL_Value value;
// angle
value = HAL_MakeDouble(source->angle.GetValue());
if (SimDeviceGui::DisplayValueSource("Angle", false, &value,
&source->angle))
HALSIM_SetAnalogGyroAngle(i, value.data.v_double);
// rate
value = HAL_MakeDouble(source->rate.GetValue());
if (SimDeviceGui::DisplayValueSource("Rate", false, &value,
&source->rate))
HALSIM_SetAnalogGyroRate(i, value.data.v_double);
SimDeviceGui::FinishDevice();
}
}
}
}
void AnalogGyroGui::Initialize() {
gAnalogGyroSources.resize(HAL_GetNumAccumulators());
HALSimGui::AddExecute(UpdateAnalogGyroSources);
SimDeviceGui::Add(DisplayAnalogGyros);
}