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[sim] Add plotting to simulation GUI

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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
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70
simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
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@@ -9,6 +9,8 @@
#include <cstdio>
#include <cstring>
#include <memory>
#include <vector>
#include <hal/Ports.h>
#include <hal/simulation/PCMData.h>
@@ -16,28 +18,60 @@
#include <wpi/SmallVector.h>
#include "ExtraGuiWidgets.h"
#include "GuiDataSource.h"
#include "HALSimGui.h"
#include "IniSaver.h"
#include "IniSaverInfo.h"
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(PCMSolenoidOutput, "Solenoid");
struct PCMSource {
explicit PCMSource(int numChannels) : solenoids(numChannels) {}
std::vector<std::unique_ptr<PCMSolenoidOutputSource>> solenoids;
int initCount = 0;
};
} // namespace
static IniSaver<OpenInfo> gPCMs{"PCM"};
static IniSaver<NameInfo> gSolenoids{"Solenoid"};
static std::vector<PCMSource> gPCMSources;
static void UpdateSolenoidSources() {
for (int i = 0, iend = gPCMSources.size(); i < iend; ++i) {
auto& pcmSource = gPCMSources[i];
int numChannels = pcmSource.solenoids.size();
pcmSource.initCount = 0;
for (int j = 0; j < numChannels; ++j) {
auto& source = pcmSource.solenoids[j];
if (HALSIM_GetPCMSolenoidInitialized(i, j)) {
if (!source) {
source = std::make_unique<PCMSolenoidOutputSource>(i, j);
source->SetName(gSolenoids[i * numChannels + j].GetName());
}
++pcmSource.initCount;
} else {
source.reset();
}
}
}
}
static void DisplaySolenoids() {
bool hasOutputs = false;
static const int numPCM = HAL_GetNumPCMModules();
static const int numChannels = HAL_GetNumSolenoidChannels();
for (int i = 0; i < numPCM; ++i) {
bool anyInit = false;
for (int i = 0, iend = gPCMSources.size(); i < iend; ++i) {
auto& pcmSource = gPCMSources[i];
if (pcmSource.initCount == 0) continue;
hasOutputs = true;
int numChannels = pcmSource.solenoids.size();
wpi::SmallVector<int, 16> channels;
channels.resize(numChannels);
for (int j = 0; j < numChannels; ++j) {
if (HALSIM_GetPCMSolenoidInitialized(i, j)) {
anyInit = true;
if (pcmSource.solenoids[j]) {
channels[j] = (!HALSimGui::AreOutputsDisabled() &&
HALSIM_GetPCMSolenoidOutput(i, j))
pcmSource.solenoids[j]->GetValue())
? 1
: -1;
} else {
@@ -45,9 +79,6 @@ static void DisplaySolenoids() {
}
}
if (!anyInit) continue;
hasOutputs = true;
char name[128];
std::snprintf(name, sizeof(name), "PCM[%d]", i);
auto& pcmInfo = gPCMs[i];
@@ -66,11 +97,16 @@ static void DisplaySolenoids() {
ImGui::PushID(i);
ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
for (int j = 0; j < numChannels; ++j) {
if (channels[j] == -2) continue;
if (!pcmSource.solenoids[j]) continue;
auto& info = gSolenoids[i * numChannels + j];
info.GetName(name, sizeof(name), "Solenoid", j);
ImGui::LabelText(name, "%s", channels[j] == 1 ? "On" : "Off");
info.PopupEditName(j);
info.GetLabel(name, sizeof(name), "Solenoid", j);
ImGui::PushID(j);
pcmSource.solenoids[j]->LabelText(name, "%s",
channels[j] == 1 ? "On" : "Off");
if (info.PopupEditName(j)) {
pcmSource.solenoids[j]->SetName(info.GetName());
}
ImGui::PopID();
}
ImGui::PopItemWidth();
ImGui::PopID();
@@ -82,6 +118,12 @@ static void DisplaySolenoids() {
void SolenoidGui::Initialize() {
gPCMs.Initialize();
gSolenoids.Initialize();
const int numModules = HAL_GetNumPCMModules();
const int numChannels = HAL_GetNumSolenoidChannels();
gPCMSources.reserve(numModules);
for (int i = 0; i < numModules; ++i) gPCMSources.emplace_back(numChannels);
HALSimGui::AddExecute(UpdateSolenoidSources);
HALSimGui::AddWindow("Solenoids", DisplaySolenoids,
ImGuiWindowFlags_AlwaysAutoResize);
HALSimGui::SetDefaultWindowPos("Solenoids", 290, 20);