mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
[sim] Add plotting to simulation GUI
This commit is contained in:
Peter Johnson
@@ -1,5 +1,5 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
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/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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@@ -11,6 +11,8 @@
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namespace halsimgui {
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class GuiDataSource;
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/**
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* DrawLEDs() configuration for 2D arrays.
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*/
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@@ -60,4 +62,28 @@ void DrawLEDs(const int* values, int numValues, int cols, const ImU32* colors,
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float size = 0.0f, float spacing = 0.0f,
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const LEDConfig& config = LEDConfig{});
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/**
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* Draw a 2D array of LEDs.
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*
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* Values are indices into colors array. Positive values are filled (lit),
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* negative values are unfilled (dark / border only). The actual color index
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* is the absolute value of the value - 1. 0 values are not drawn at all
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* (an empty space is left).
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*
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* @param values values array
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* @param sources sources array
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* @param numValues size of values and sources arrays
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* @param cols number of columns
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* @param colors colors array
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* @param size size of each LED (both horizontal and vertical);
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* if 0, defaults to 1/2 of font size
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* @param spacing spacing between each LED (both horizontal and vertical);
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* if 0, defaults to 1/3 of font size
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* @param config 2D array configuration
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*/
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void DrawLEDSources(const int* values, GuiDataSource** sources, int numValues,
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int cols, const ImU32* colors, float size = 0.0f,
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float spacing = 0.0f,
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const LEDConfig& config = LEDConfig{});
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} // namespace halsimgui
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186
simulation/halsim_gui/src/main/native/include/GuiDataSource.h
Normal file
186
simulation/halsim_gui/src/main/native/include/GuiDataSource.h
Normal file
@@ -0,0 +1,186 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <atomic>
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#include <string>
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#include <imgui.h>
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#include <wpi/Signal.h>
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#include <wpi/StringRef.h>
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#include <wpi/Twine.h>
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#include <wpi/spinlock.h>
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namespace halsimgui {
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/**
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* A data source.
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*/
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class GuiDataSource {
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public:
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explicit GuiDataSource(const wpi::Twine& id);
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GuiDataSource(const wpi::Twine& id, int index);
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GuiDataSource(const wpi::Twine& id, int index, int index2);
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~GuiDataSource();
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GuiDataSource(const GuiDataSource&) = delete;
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GuiDataSource& operator=(const GuiDataSource&) = delete;
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const char* GetId() const { return m_id.c_str(); }
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void SetName(const wpi::Twine& name) { m_name = name.str(); }
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const char* GetName() const { return m_name.c_str(); }
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void SetDigital(bool digital) { m_digital = digital; }
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bool IsDigital() const { return m_digital; }
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void SetValue(double value) {
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m_value = value;
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valueChanged(value);
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}
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double GetValue() const { return m_value; }
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// drag source helpers
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void LabelText(const char* label, const char* fmt, ...) const;
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void LabelTextV(const char* label, const char* fmt, va_list args) const;
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bool Combo(const char* label, int* current_item, const char* const items[],
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int items_count, int popup_max_height_in_items = -1) const;
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bool SliderFloat(const char* label, float* v, float v_min, float v_max,
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const char* format = "%.3f", float power = 1.0f) const;
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bool InputDouble(const char* label, double* v, double step = 0.0,
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double step_fast = 0.0, const char* format = "%.6f",
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ImGuiInputTextFlags flags = 0) const;
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bool InputInt(const char* label, int* v, int step = 1, int step_fast = 100,
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ImGuiInputTextFlags flags = 0) const;
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void EmitDrag(ImGuiDragDropFlags flags = 0) const;
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wpi::sig::SignalBase<wpi::spinlock, double> valueChanged;
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static GuiDataSource* Find(wpi::StringRef id);
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static wpi::sig::Signal<const char*, GuiDataSource*> sourceCreated;
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private:
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std::string m_id;
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std::string m_name;
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bool m_digital = false;
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std::atomic<double> m_value = 0;
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};
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} // namespace halsimgui
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#define HALSIMGUI_DATASOURCE(cbname, id, TYPE, vtype) \
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class cbname##Source : public ::halsimgui::GuiDataSource { \
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public: \
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cbname##Source() \
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: GuiDataSource(id), \
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m_callback{ \
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HALSIM_Register##cbname##Callback(CallbackFunc, this, true)} { \
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SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
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} \
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\
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~cbname##Source() { \
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if (m_callback != 0) HALSIM_Cancel##cbname##Callback(m_callback); \
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} \
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\
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private: \
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static void CallbackFunc(const char*, void* param, \
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const HAL_Value* value) { \
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if (value->type == HAL_##TYPE) \
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static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
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} \
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\
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int32_t m_callback; \
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}
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#define HALSIMGUI_DATASOURCE_BOOLEAN(cbname, id) \
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HALSIMGUI_DATASOURCE(cbname, id, BOOLEAN, boolean)
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#define HALSIMGUI_DATASOURCE_DOUBLE(cbname, id) \
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HALSIMGUI_DATASOURCE(cbname, id, DOUBLE, double)
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#define HALSIMGUI_DATASOURCE_INT(cbname, id) \
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HALSIMGUI_DATASOURCE(cbname, id, INT, int)
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#define HALSIMGUI_DATASOURCE_INDEXED(cbname, id, TYPE, vtype) \
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class cbname##Source : public ::halsimgui::GuiDataSource { \
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public: \
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explicit cbname##Source(int32_t index, int channel = -1) \
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: GuiDataSource(id, channel < 0 ? index : channel), \
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m_index{index}, \
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m_channel{channel < 0 ? index : channel}, \
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m_callback{HALSIM_Register##cbname##Callback(index, CallbackFunc, \
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this, true)} { \
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SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
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} \
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\
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~cbname##Source() { \
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if (m_callback != 0) \
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HALSIM_Cancel##cbname##Callback(m_index, m_callback); \
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} \
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\
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int32_t GetIndex() const { return m_index; } \
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\
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int GetChannel() const { return m_channel; } \
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\
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private: \
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static void CallbackFunc(const char*, void* param, \
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const HAL_Value* value) { \
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if (value->type == HAL_##TYPE) \
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static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
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} \
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\
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int32_t m_index; \
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int m_channel; \
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int32_t m_callback; \
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}
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#define HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(cbname, id) \
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HALSIMGUI_DATASOURCE_INDEXED(cbname, id, BOOLEAN, boolean)
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#define HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(cbname, id) \
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HALSIMGUI_DATASOURCE_INDEXED(cbname, id, DOUBLE, double)
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#define HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, TYPE, vtype) \
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class cbname##Source : public ::halsimgui::GuiDataSource { \
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public: \
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explicit cbname##Source(int32_t index, int32_t channel) \
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: GuiDataSource(id, index, channel), \
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m_index{index}, \
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m_channel{channel}, \
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m_callback{HALSIM_Register##cbname##Callback( \
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index, channel, CallbackFunc, this, true)} { \
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SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
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} \
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\
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~cbname##Source() { \
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if (m_callback != 0) \
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HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback); \
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} \
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\
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int32_t GetIndex() const { return m_index; } \
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\
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int32_t GetChannel() const { return m_channel; } \
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\
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private: \
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static void CallbackFunc(const char*, void* param, \
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const HAL_Value* value) { \
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if (value->type == HAL_##TYPE) \
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static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
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} \
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\
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int32_t m_index; \
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int32_t m_channel; \
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int32_t m_callback; \
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}
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#define HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(cbname, id) \
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HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, BOOLEAN, boolean)
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#define HALSIMGUI_DATASOURCE_DOUBLE_INDEXED2(cbname, id) \
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HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, DOUBLE, double)
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@@ -18,16 +18,24 @@ class NameInfo {
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bool HasName() const { return m_name[0] != '\0'; }
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const char* GetName() const { return m_name; }
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void GetName(char* buf, size_t size, const char* defaultName);
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void GetName(char* buf, size_t size, const char* defaultName, int index);
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void GetName(char* buf, size_t size, const char* defaultName) const;
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void GetName(char* buf, size_t size, const char* defaultName,
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int index) const;
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void GetName(char* buf, size_t size, const char* defaultName, int index,
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int index2);
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int index2) const;
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void GetLabel(char* buf, size_t size, const char* defaultName) const;
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void GetLabel(char* buf, size_t size, const char* defaultName,
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int index) const;
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void GetLabel(char* buf, size_t size, const char* defaultName, int index,
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int index2) const;
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bool ReadIni(wpi::StringRef name, wpi::StringRef value);
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void WriteIni(ImGuiTextBuffer* out);
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void PushEditNameId(int index);
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void PushEditNameId(const char* name);
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void PopupEditName(int index);
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void PopupEditName(const char* name);
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bool PopupEditName(int index);
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bool PopupEditName(const char* name);
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bool InputTextName(const char* label_id, ImGuiInputTextFlags flags = 0);
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private:
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char m_name[64];
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@@ -0,0 +1,36 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <vector>
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#include <imgui.h>
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#include <imgui_internal.h>
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namespace halsimgui {
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template <typename Info>
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class IniSaverVector : public std::vector<Info> {
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public:
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explicit IniSaverVector(const char* typeName) : m_typeName(typeName) {}
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void Initialize();
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private:
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static void* ReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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const char* name);
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static void ReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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void* entry, const char* lineStr);
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static void WriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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ImGuiTextBuffer* out_buf);
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const char* m_typeName;
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};
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} // namespace halsimgui
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#include "IniSaverVector.inl"
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@@ -0,0 +1,60 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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namespace halsimgui {
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template <typename Info>
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void IniSaverVector<Info>::Initialize() {
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// hook ini handler to save settings
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ImGuiSettingsHandler iniHandler;
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iniHandler.TypeName = m_typeName;
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iniHandler.TypeHash = ImHashStr(m_typeName);
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iniHandler.ReadOpenFn = ReadOpen;
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iniHandler.ReadLineFn = ReadLine;
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iniHandler.WriteAllFn = WriteAll;
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iniHandler.UserData = this;
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ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
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}
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template <typename Info>
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void* IniSaverVector<Info>::ReadOpen(ImGuiContext* ctx,
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ImGuiSettingsHandler* handler,
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const char* name) {
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auto self = static_cast<IniSaverVector*>(handler->UserData);
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unsigned int num;
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if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
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if (num >= self->size()) self->resize(num + 1);
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return &(*self)[num];
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}
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template <typename Info>
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void IniSaverVector<Info>::ReadLine(ImGuiContext* ctx,
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ImGuiSettingsHandler* handler, void* entry,
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const char* lineStr) {
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auto element = static_cast<Info*>(entry);
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wpi::StringRef line{lineStr};
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auto [name, value] = line.split('=');
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name = name.trim();
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value = value.trim();
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element->ReadIni(name, value);
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}
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template <typename Info>
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void IniSaverVector<Info>::WriteAll(ImGuiContext* ctx,
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ImGuiSettingsHandler* handler,
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ImGuiTextBuffer* out_buf) {
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auto self = static_cast<IniSaverVector*>(handler->UserData);
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for (size_t i = 0; i < self->size(); ++i) {
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out_buf->appendf("[%s][%d]\n", self->m_typeName, static_cast<int>(i));
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(*self)[i].WriteIni(out_buf);
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out_buf->append("\n");
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}
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}
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} // namespace halsimgui
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@@ -1,5 +1,5 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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||||
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
|
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/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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@@ -35,6 +35,8 @@ void HALSIMGUI_DeviceTreeFinishDevice(void);
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namespace halsimgui {
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class GuiDataSource;
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class SimDeviceGui {
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public:
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static void Initialize();
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@@ -69,6 +71,22 @@ class SimDeviceGui {
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const char** options = nullptr,
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int32_t numOptions = 0);
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/**
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* Displays device value formatted the same way as SimDevice device values.
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*
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* @param name value name
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* @param readonly prevent value from being modified by the user
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* @param value value contents (modified in place)
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* @param source data source (may be nullptr)
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* @param options options array for enum values
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* @param numOptions size of options array for enum values
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* @return True if value was modified by the user
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*/
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static bool DisplayValueSource(const char* name, bool readonly,
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HAL_Value* value, const GuiDataSource* source,
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const char** options = nullptr,
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int32_t numOptions = 0);
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/**
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* Wraps ImGui::CollapsingHeader() to provide consistency and open
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* persistence. As with the ImGui function, returns true if the tree node
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Block a user