Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

140
simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp
View File

@@ -7,6 +7,9 @@
#include "DIOGui.h"
#include <memory>
#include <vector>
#include <hal/Ports.h>
#include <hal/simulation/DIOData.h>
#include <hal/simulation/DigitalPWMData.h>
@@ -15,13 +18,23 @@
#include <hal/simulation/SimDeviceData.h>
#include <imgui.h>
#include "GuiDataSource.h"
#include "HALSimGui.h"
#include "IniSaver.h"
#include "IniSaverInfo.h"
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(DIOValue, "DIO");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DigitalPWMDutyCycle, "DPWM");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DutyCycleOutput, "DutyCycle");
} // namespace
static IniSaver<NameInfo> gDIO{"DIO"};
static std::vector<std::unique_ptr<DIOValueSource>> gDIOSources;
static std::vector<std::unique_ptr<DigitalPWMDutyCycleSource>> gDPWMSources;
static std::vector<std::unique_ptr<DutyCycleOutputSource>> gDutyCycleSources;
static void LabelSimDevice(const char* name, HAL_SimDeviceHandle simDevice) {
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
@@ -29,12 +42,62 @@ static void LabelSimDevice(const char* name, HAL_SimDeviceHandle simDevice) {
ImGui::PopStyleColor();
}
static void UpdateDIOSources() {
for (int i = 0, iend = gDIOSources.size(); i < iend; ++i) {
auto& source = gDIOSources[i];
if (HALSIM_GetDIOInitialized(i)) {
if (!source) {
source = std::make_unique<DIOValueSource>(i);
source->SetName(gDIO[i].GetName());
}
} else {
source.reset();
}
}
}
static void UpdateDPWMSources() {
const int numDIO = gDIOSources.size();
for (int i = 0, iend = gDPWMSources.size(); i < iend; ++i) {
auto& source = gDPWMSources[i];
if (HALSIM_GetDigitalPWMInitialized(i)) {
if (!source) {
int channel = HALSIM_GetDigitalPWMPin(i);
if (channel >= 0 && channel < numDIO) {
source = std::make_unique<DigitalPWMDutyCycleSource>(i, channel);
source->SetName(gDIO[channel].GetName());
}
}
} else {
source.reset();
}
}
}
static void UpdateDutyCycleSources() {
const int numDIO = gDIOSources.size();
for (int i = 0, iend = gDutyCycleSources.size(); i < iend; ++i) {
auto& source = gDutyCycleSources[i];
if (HALSIM_GetDutyCycleInitialized(i)) {
if (!source) {
int channel = HALSIM_GetDutyCycleDigitalChannel(i);
if (channel >= 0 && channel < numDIO) {
source = std::make_unique<DutyCycleOutputSource>(i, channel);
source->SetName(gDIO[channel].GetName());
}
}
} else {
source.reset();
}
}
}
static void DisplayDIO() {
bool hasAny = false;
static int numDIO = HAL_GetNumDigitalChannels();
static int numPWM = HAL_GetNumDigitalPWMOutputs();
static int numEncoder = HAL_GetNumEncoders();
static int numDutyCycle = HAL_GetNumDutyCycles();
const int numDIO = gDIOSources.size();
const int numPWM = gDPWMSources.size();
static const int numEncoder = HAL_GetNumEncoders();
const int numDutyCycle = gDutyCycleSources.size();
static auto pwmMap = std::make_unique<int[]>(numDIO);
static auto encoderMap = std::make_unique<int[]>(numDIO);
static auto dutyCycleMap = std::make_unique<int[]>(numDIO);
@@ -44,8 +107,8 @@ static void DisplayDIO() {
std::memset(dutyCycleMap.get(), 0, numDIO * sizeof(dutyCycleMap[0]));
for (int i = 0; i < numPWM; ++i) {
if (HALSIM_GetDigitalPWMInitialized(i)) {
int channel = HALSIM_GetDigitalPWMPin(i);
if (auto source = gDPWMSources[i].get()) {
int channel = source->GetChannel();
if (channel >= 0 && channel < numDIO) pwmMap[channel] = i + 1;
}
}
@@ -61,66 +124,76 @@ static void DisplayDIO() {
}
for (int i = 0; i < numDutyCycle; ++i) {
if (HALSIM_GetDutyCycleInitialized(i)) {
int channel = HALSIM_GetDutyCycleDigitalChannel(i);
if (auto source = gDutyCycleSources[i].get()) {
int channel = source->GetChannel();
if (channel >= 0 && channel < numDIO) dutyCycleMap[channel] = i + 1;
}
}
ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
for (int i = 0; i < numDIO; ++i) {
if (HALSIM_GetDIOInitialized(i)) {
if (auto dioSource = gDIOSources[i].get()) {
ImGui::PushID(i);
hasAny = true;
DigitalPWMDutyCycleSource* dpwmSource = nullptr;
DutyCycleOutputSource* dutyCycleSource = nullptr;
auto& info = gDIO[i];
char name[128];
char label[128];
if (pwmMap[i] > 0) {
info.GetName(name, sizeof(name), "PWM", i);
dpwmSource = gDPWMSources[pwmMap[i] - 1].get();
info.GetLabel(label, sizeof(label), "PWM", i);
if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
LabelSimDevice(name, simDevice);
LabelSimDevice(label, simDevice);
} else {
ImGui::LabelText(name, "%0.3f",
HALSIM_GetDigitalPWMDutyCycle(pwmMap[i] - 1));
dpwmSource->LabelText(label, "%0.3f", dpwmSource->GetValue());
}
} else if (encoderMap[i] > 0) {
info.GetName(name, sizeof(name), " In", i);
info.GetLabel(label, sizeof(label), " In", i);
if (auto simDevice = HALSIM_GetEncoderSimDevice(encoderMap[i] - 1)) {
LabelSimDevice(name, simDevice);
LabelSimDevice(label, simDevice);
} else {
ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
ImGui::LabelText(name, "Encoder[%d,%d]",
ImGui::LabelText(label, "Encoder[%d,%d]",
HALSIM_GetEncoderDigitalChannelA(encoderMap[i] - 1),
HALSIM_GetEncoderDigitalChannelB(encoderMap[i] - 1));
ImGui::PopStyleColor();
}
} else if (dutyCycleMap[i] > 0) {
info.GetName(name, sizeof(name), "Dty", i);
dutyCycleSource = gDutyCycleSources[dutyCycleMap[i] - 1].get();
info.GetLabel(label, sizeof(label), "Dty", i);
if (auto simDevice =
HALSIM_GetDutyCycleSimDevice(dutyCycleMap[i] - 1)) {
LabelSimDevice(name, simDevice);
LabelSimDevice(label, simDevice);
} else {
double val = HALSIM_GetDutyCycleOutput(dutyCycleMap[i] - 1);
if (ImGui::InputDouble(name, &val))
double val = dutyCycleSource->GetValue();
if (dutyCycleSource->InputDouble(label, &val))
HALSIM_SetDutyCycleOutput(dutyCycleMap[i] - 1, val);
}
} else if (!HALSIM_GetDIOIsInput(i)) {
info.GetName(name, sizeof(name), "Out", i);
info.GetLabel(label, sizeof(label), "Out", i);
if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
LabelSimDevice(name, simDevice);
LabelSimDevice(label, simDevice);
} else {
ImGui::LabelText(name, "%s",
HALSIM_GetDIOValue(i) ? "1 (high)" : "0 (low)");
dioSource->LabelText(
label, "%s", dioSource->GetValue() != 0 ? "1 (high)" : "0 (low)");
}
} else {
info.GetName(name, sizeof(name), " In", i);
info.GetLabel(label, sizeof(label), " In", i);
if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
LabelSimDevice(name, simDevice);
LabelSimDevice(label, simDevice);
} else {
static const char* options[] = {"0 (low)", "1 (high)"};
int val = HALSIM_GetDIOValue(i) ? 1 : 0;
if (ImGui::Combo(name, &val, options, 2)) HALSIM_SetDIOValue(i, val);
int val = dioSource->GetValue() != 0 ? 1 : 0;
if (dioSource->Combo(label, &val, options, 2))
HALSIM_SetDIOValue(i, val);
}
}
info.PopupEditName(i);
if (info.PopupEditName(i)) {
dioSource->SetName(info.GetName());
if (dpwmSource) dpwmSource->SetName(info.GetName());
if (dutyCycleSource) dutyCycleSource->SetName(info.GetName());
}
ImGui::PopID();
}
}
ImGui::PopItemWidth();
@@ -129,6 +202,13 @@ static void DisplayDIO() {
void DIOGui::Initialize() {
gDIO.Initialize();
gDIOSources.resize(HAL_GetNumDigitalChannels());
gDPWMSources.resize(HAL_GetNumDigitalPWMOutputs());
gDutyCycleSources.resize(HAL_GetNumDutyCycles());
HALSimGui::AddExecute(UpdateDIOSources);
HALSimGui::AddExecute(UpdateDPWMSources);
HALSimGui::AddExecute(UpdateDutyCycleSources);
HALSimGui::AddWindow("DIO", DisplayDIO, ImGuiWindowFlags_AlwaysAutoResize);
HALSimGui::SetDefaultWindowPos("DIO", 470, 20);
}