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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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4
simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
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@@ -152,8 +152,8 @@ static void SetupUdp(wpi::net::uv::Loop& loop) {
outAddr.sin_port = htons(1150);
wpi::util::SmallVector<wpi::net::uv::Buffer, 4> sendBufs;
wpi::net::raw_uv_ostream stream{sendBufs,
[] { return GetBufferPool().Allocate(); }};
wpi::net::raw_uv_ostream stream{
sendBufs, [] { return GetBufferPool().Allocate(); }};
ds->SetupSendBuffer(stream);
udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {

13
simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
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@@ -48,9 +48,9 @@ class AddressableLEDsModel : public wpi::glass::LEDDisplaysModel {
size_t GetNumLEDDisplays() override { return m_models.size(); }
void ForEachLEDDisplay(
wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func)
override;
void ForEachLEDDisplay(wpi::util::function_ref<
void(wpi::glass::LEDDisplayModel& model, int channel)>
func) override;
private:
std::vector<std::unique_ptr<AddressableLEDModel>> m_models;
@@ -83,7 +83,9 @@ bool AddressableLEDsModel::Exists() {
}
void AddressableLEDsModel::ForEachLEDDisplay(
wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func) {
wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model,
int channel)>
func) {
for (int i = 0; i < static_cast<int>(m_models.size()); ++i) {
if (m_models[i]) {
func(*m_models[i], i);
@@ -109,7 +111,8 @@ void AddressableLEDGui::Initialize() {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(290, 100);
return wpi::glass::MakeFunctionView([=] {
wpi::glass::DisplayLEDDisplays(static_cast<AddressableLEDsModel*>(model));
wpi::glass::DisplayLEDDisplays(
static_cast<AddressableLEDsModel*>(model));
});
});
}

13
simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
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@@ -56,9 +56,9 @@ class AnalogInputsSimModel : public wpi::glass::AnalogInputsModel {
bool Exists() override { return true; }
void ForEachAnalogInput(
wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func)
override;
void ForEachAnalogInput(wpi::util::function_ref<
void(wpi::glass::AnalogInputModel& model, int index)>
func) override;
private:
// indexed by channel
@@ -81,7 +81,9 @@ void AnalogInputsSimModel::Update() {
}
void AnalogInputsSimModel::ForEachAnalogInput(
wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model,
int index)>
func) {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
if (auto model = m_models[i].get()) {
@@ -108,7 +110,8 @@ void AnalogInputSimGui::Initialize() {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(640, 20);
return wpi::glass::MakeFunctionView([=] {
wpi::glass::DisplayAnalogInputs(static_cast<AnalogInputsSimModel*>(model));
wpi::glass::DisplayAnalogInputs(
static_cast<AnalogInputsSimModel*>(model));
});
});
}

8
simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
View File

@@ -138,7 +138,8 @@ class DIOsSimModel : public wpi::glass::DIOsModel {
bool Exists() override { return true; }
void ForEachDIO(
wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) override;
wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)>
func) override;
private:
// indexed by channel
@@ -210,7 +211,8 @@ void DIOsSimModel::Update() {
}
void DIOsSimModel::ForEachDIO(
wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)>
func) {
const int32_t numDIO = m_dioModels.size();
for (int32_t i = 0; i < numDIO; ++i) {
if (auto model = m_dioModels[i].get()) {
@@ -237,7 +239,7 @@ void DIOSimGui::Initialize() {
win->SetDefaultPos(470, 20);
return wpi::glass::MakeFunctionView([=] {
wpi::glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
HALSimGui::halProvider->AreOutputsEnabled());
HALSimGui::halProvider->AreOutputsEnabled());
});
});
}

32
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
View File

@@ -214,8 +214,12 @@ class FMSSimModel : public wpi::glass::FMSModel {
public:
FMSSimModel();
wpi::glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
wpi::glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
wpi::glass::BooleanSource* GetFmsAttachedData() override {
return &m_fmsAttached;
}
wpi::glass::BooleanSource* GetDsAttachedData() override {
return &m_dsAttached;
}
wpi::glass::IntegerSource* GetAllianceStationIdData() override {
return &m_allianceStationId;
}
@@ -223,7 +227,9 @@ class FMSSimModel : public wpi::glass::FMSModel {
wpi::glass::BooleanSource* GetEStopData() override { return &m_estop; }
wpi::glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
wpi::glass::BooleanSource* GetTestData() override { return &m_test; }
wpi::glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
wpi::glass::BooleanSource* GetAutonomousData() override {
return &m_autonomous;
}
wpi::glass::StringSource* GetGameSpecificMessageData() override {
return &m_gameMessage;
}
@@ -562,10 +568,11 @@ void KeyboardJoystick::EditKey(const char* label, int* key) {
char editLabel[32];
if (s_keyEdit == key) {
wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "(press key)###edit");
wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel),
"(press key)###edit");
} else {
wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
GetKeyName(*key));
GetKeyName(*key));
}
if (ImGui::SmallButton(editLabel)) {
@@ -842,7 +849,8 @@ void KeyboardJoystick::ClearKey(int key) {
}
}
GlfwKeyboardJoystick::GlfwKeyboardJoystick(wpi::glass::Storage& storage, int index)
GlfwKeyboardJoystick::GlfwKeyboardJoystick(wpi::glass::Storage& storage,
int index)
: KeyboardJoystick{storage, index} {
// set up a default keyboard config for 0, 1, and 2
if (index == 0) {
@@ -1216,7 +1224,8 @@ bool FMSSimModel::IsReadOnly() {
static void DisplaySystemJoystick(SystemJoystick& joy, int i) {
char label[64];
wpi::util::format_to_n_c_str(label, sizeof(label), "{}: {}", i, joy.GetName());
wpi::util::format_to_n_c_str(label, sizeof(label), "{}: {}", i,
joy.GetName());
// highlight if any buttons pressed
bool anyButtonPressed = joy.IsAnyButtonPressed();
@@ -1250,7 +1259,8 @@ static void DisplaySystemJoysticks() {
DisplaySystemJoystick(*joy, i + GLFW_JOYSTICK_LAST + 1);
if (ImGui::BeginPopupContextItem()) {
char buf[64];
wpi::util::format_to_n_c_str(buf, sizeof(buf), "{} Settings", joy->GetName());
wpi::util::format_to_n_c_str(buf, sizeof(buf), "{} Settings",
joy->GetName());
if (ImGui::MenuItem(buf)) {
if (auto win = DriverStationGui::dsManager->GetWindow(buf)) {
@@ -1300,8 +1310,8 @@ static void DisplayJoysticks() {
joy.sys = payload_sys;
joy.guid = payload_sys->GetGUID();
std::string_view name{payload_sys->GetName()};
joy.useGamepad =
wpi::util::starts_with(name, "Xbox") || wpi::util::contains(name, "pad");
joy.useGamepad = wpi::util::starts_with(name, "Xbox") ||
wpi::util::contains(name, "pad");
}
ImGui::EndDragDropTarget();
}
@@ -1460,7 +1470,7 @@ void DriverStationGui::GlobalInit() {
for (auto&& joy : gKeyboardJoysticks) {
char label[64];
wpi::util::format_to_n_c_str(label, sizeof(label), "{} Settings",
joy->GetName());
joy->GetName());
if (auto win = dsManager->AddWindow(
label, [j = joy.get()] { j->SettingsDisplay(); },

11
simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
View File

@@ -93,7 +93,9 @@ class EncoderSimModel : public wpi::glass::EncoderModel {
}
wpi::glass::IntegerSource* GetCountData() override { return &m_count; }
wpi::glass::DoubleSource* GetPeriodData() override { return &m_period; }
wpi::glass::BooleanSource* GetDirectionData() override { return &m_direction; }
wpi::glass::BooleanSource* GetDirectionData() override {
return &m_direction;
}
wpi::glass::DoubleSource* GetDistanceData() override { return &m_distance; }
wpi::glass::DoubleSource* GetRateData() override { return &m_rate; }
@@ -201,8 +203,8 @@ class EncodersSimModel : public wpi::glass::EncodersModel {
bool Exists() override { return true; }
void ForEachEncoder(
wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func)
override;
wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)>
func) override;
private:
std::vector<std::unique_ptr<EncoderSimModel>> m_models;
@@ -224,7 +226,8 @@ void EncodersSimModel::Update() {
}
void EncodersSimModel::ForEachEncoder(
wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)>
func) {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
if (auto model = m_models[i].get()) {

2
simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
View File

@@ -6,7 +6,7 @@
namespace wpi::glass {
class EncodersModel;
} // namespace glass
} // namespace wpi::glass
namespace halsimgui {

6
simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
View File

@@ -95,9 +95,9 @@ void HALProvider::Show(ViewEntry* entry, wpi::glass::Window* window) {
// the window might exist and we're just not associated to it yet
if (!window) {
window = GetOrAddWindow(
entry->name, true,
entry->showDefault ? wpi::glass::Window::kShow : wpi::glass::Window::kHide);
window = GetOrAddWindow(entry->name, true,
entry->showDefault ? wpi::glass::Window::kShow
: wpi::glass::Window::kHide);
}
if (!window) {
return;

12
simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
View File

@@ -23,9 +23,10 @@ void NetworkTablesSimGui::Initialize() {
wpi::gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
gNetworkTablesWindow = std::make_unique<wpi::glass::Window>(
wpi::glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
gNetworkTablesWindow->SetView(
std::make_unique<wpi::glass::NetworkTablesView>(gNetworkTablesModel.get()));
wpi::glass::GetStorageRoot().GetChild("NetworkTables View"),
"NetworkTables");
gNetworkTablesWindow->SetView(std::make_unique<wpi::glass::NetworkTablesView>(
gNetworkTablesModel.get()));
gNetworkTablesWindow->SetDefaultPos(250, 277);
gNetworkTablesWindow->SetDefaultSize(750, 185);
gNetworkTablesWindow->DisableRenamePopup();
@@ -35,8 +36,9 @@ void NetworkTablesSimGui::Initialize() {
gNetworkTablesInfoWindow = std::make_unique<wpi::glass::Window>(
wpi::glass::GetStorageRoot().GetChild("NetworkTables Info"),
"NetworkTables Info");
gNetworkTablesInfoWindow->SetView(wpi::glass::MakeFunctionView(
[&] { wpi::glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
gNetworkTablesInfoWindow->SetView(wpi::glass::MakeFunctionView([&] {
wpi::glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get());
}));
gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
gNetworkTablesInfoWindow->SetDefaultVisibility(wpi::glass::Window::kHide);

16
simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
View File

@@ -103,8 +103,8 @@ class PCMSimModel : public wpi::glass::PneumaticControlModel {
CompressorSimModel* GetCompressor() override { return &m_compressor; }
void ForEachSolenoid(
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
override;
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)>
func) override;
std::string_view GetName() override { return "PCM"; }
@@ -126,7 +126,8 @@ class PCMsSimModel : public wpi::glass::PneumaticControlsModel {
bool Exists() override { return true; }
void ForEachPneumaticControl(
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model,
int index)>
func) override;
private:
@@ -151,7 +152,8 @@ void PCMSimModel::Update() {
}
void PCMSimModel::ForEachSolenoid(
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)>
func) {
if (m_solenoidInitCount == 0) {
return;
}
@@ -179,7 +181,8 @@ void PCMsSimModel::Update() {
}
void PCMsSimModel::ForEachPneumaticControl(
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model,
int index)>
func) {
int32_t numCTREPCMs = m_models.size();
for (int32_t i = 0; i < numCTREPCMs; ++i) {
@@ -220,7 +223,8 @@ void PCMSimGui::Initialize() {
[] { return std::make_unique<PCMsSimModel>(); });
SimDeviceGui::GetDeviceTree().Add(
HALSimGui::halProvider->GetModel("CTREPCMs"), [](wpi::glass::Model* model) {
HALSimGui::halProvider->GetModel("CTREPCMs"),
[](wpi::glass::Model* model) {
wpi::glass::DisplayCompressorsDevice(
static_cast<PCMsSimModel*>(model),
HALSimGui::halProvider->AreOutputsEnabled());

13
simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
View File

@@ -98,8 +98,8 @@ class PHSimModel : public wpi::glass::PneumaticControlModel {
CompressorSimModel* GetCompressor() override { return &m_compressor; }
void ForEachSolenoid(
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
override;
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)>
func) override;
std::string_view GetName() override { return "PH"; }
@@ -121,7 +121,8 @@ class PHsSimModel : public wpi::glass::PneumaticControlsModel {
bool Exists() override { return true; }
void ForEachPneumaticControl(
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model,
int index)>
func) override;
private:
@@ -146,7 +147,8 @@ void PHSimModel::Update() {
}
void PHSimModel::ForEachSolenoid(
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)>
func) {
if (m_solenoidInitCount == 0) {
return;
}
@@ -174,7 +176,8 @@ void PHsSimModel::Update() {
}
void PHsSimModel::ForEachPneumaticControl(
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model,
int index)>
func) {
int32_t numREVPHs = m_models.size();
for (int32_t i = 0; i < numREVPHs; ++i) {

8
simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
View File

@@ -47,7 +47,8 @@ class PWMsSimModel : public wpi::glass::PWMsModel {
bool Exists() override { return true; }
void ForEachPWM(
wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) override;
wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)>
func) override;
private:
// indexed by channel
@@ -70,7 +71,8 @@ void PWMsSimModel::Update() {
}
void PWMsSimModel::ForEachPWM(
wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) {
wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)>
func) {
const int32_t numPWM = m_sources.size();
for (int32_t i = 0; i < numPWM; ++i) {
if (auto model = m_sources[i].get()) {
@@ -98,7 +100,7 @@ void PWMSimGui::Initialize() {
win->SetDefaultPos(910, 20);
return wpi::glass::MakeFunctionView([=] {
wpi::glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
HALSimGui::halProvider->AreOutputsEnabled());
HALSimGui::halProvider->AreOutputsEnabled());
});
});
}

6
simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
View File

@@ -78,7 +78,8 @@ class PowerDistributionsSimModel : public wpi::glass::PowerDistributionsModel {
bool Exists() override { return true; }
void ForEachPowerDistribution(
wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model,
int index)>
func) override;
private:
@@ -101,7 +102,8 @@ void PowerDistributionsSimModel::Update() {
}
void PowerDistributionsSimModel::ForEachPowerDistribution(
wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model,
int index)>
func) {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {

8
simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
View File

@@ -48,9 +48,13 @@ class RoboRioSimModel : public wpi::glass::RoboRioModel {
bool Exists() override { return true; }
wpi::glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
wpi::glass::RoboRioRailModel* GetUser3V3Rail() override {
return &m_user3V3Rail;
}
wpi::glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
wpi::glass::DoubleSource* GetVInVoltageData() override {
return &m_vInVoltage;
}
wpi::glass::DoubleSource* GetBrownoutVoltage() override {
return &m_brownoutVoltage;
}

24
simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
View File

@@ -23,7 +23,7 @@ using namespace halsimgui;
namespace {
#define DEFINE_SIMVALUESOURCE(Type, TYPE, v_type) \
class Sim##Type##ValueSource : public wpi::glass::Type##Source { \
class Sim##Type##ValueSource : public wpi::glass::Type##Source { \
public: \
explicit Sim##Type##ValueSource(HAL_SimValueHandle handle, \
const char* device, const char* name) \
@@ -90,7 +90,8 @@ class SimDevicesModel : public wpi::glass::Model {
}
private:
wpi::util::DenseMap<HAL_SimValueHandle, std::unique_ptr<wpi::glass::DataSource>>
wpi::util::DenseMap<HAL_SimValueHandle,
std::unique_ptr<wpi::glass::DataSource>>
m_sources;
};
} // namespace
@@ -151,7 +152,7 @@ static void DisplaySimValue(const char* name, void* data,
case HAL_BOOLEAN: {
bool v = value->data.v_boolean;
if (wpi::glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
model->GetSource(handle))) {
model->GetSource(handle))) {
valueCopy.data.v_boolean = v ? 1 : 0;
HAL_SetSimValue(handle, valueCopy);
}
@@ -159,8 +160,8 @@ static void DisplaySimValue(const char* name, void* data,
}
case HAL_DOUBLE:
if (wpi::glass::DeviceDouble(name, direction == HAL_SimValueOutput,
&valueCopy.data.v_double,
model->GetSource(handle))) {
&valueCopy.data.v_double,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
}
break;
@@ -168,21 +169,23 @@ static void DisplaySimValue(const char* name, void* data,
int32_t numOptions = 0;
const char** options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
if (wpi::glass::DeviceEnum(name, direction == HAL_SimValueOutput,
&valueCopy.data.v_enum, options, numOptions,
model->GetSource(handle))) {
&valueCopy.data.v_enum, options, numOptions,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
}
break;
}
case HAL_INT:
if (wpi::glass::DeviceInt(name, direction == HAL_SimValueOutput,
&valueCopy.data.v_int, model->GetSource(handle))) {
&valueCopy.data.v_int,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
}
break;
case HAL_LONG:
if (wpi::glass::DeviceLong(name, direction == HAL_SimValueOutput,
&valueCopy.data.v_long, model->GetSource(handle))) {
&valueCopy.data.v_long,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
}
break;
@@ -234,7 +237,8 @@ void SimDeviceGui::Initialize() {
});
}
wpi::glass::DataSource* SimDeviceGui::GetValueSource(HAL_SimValueHandle handle) {
wpi::glass::DataSource* SimDeviceGui::GetValueSource(
HAL_SimValueHandle handle) {
return gSimDevicesModel->GetSource(handle);
}

6
simulation/halsim_gui/src/main/native/cpp/main.cpp
View File

@@ -64,9 +64,9 @@ int HALSIM_InitExtension(void) {
HAL_RegisterExtension(
HALSIMGUI_EXT_GETGUICONTEXT,
reinterpret_cast<void*>((GetGuiContextFn)&gui::GetCurrentContext));
HAL_RegisterExtension(
HALSIMGUI_EXT_GETGLASSCONTEXT,
reinterpret_cast<void*>((GetGlassContextFn)&wpi::glass::GetCurrentContext));
HAL_RegisterExtension(HALSIMGUI_EXT_GETGLASSCONTEXT,
reinterpret_cast<void*>(
(GetGlassContextFn)&wpi::glass::GetCurrentContext));
HALSimGui::GlobalInit();
DriverStationGui::GlobalInit();

12
simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALDataSource.hpp
View File

@@ -7,7 +7,7 @@
#include "wpi/glass/DataSource.hpp"
#define HALSIMGUI_DATASOURCE(cbname, id, TYPE, Type, vtype) \
class cbname##Source : public ::wpi::glass::Type##Source { \
class cbname##Source : public ::wpi::glass::Type##Source { \
public: \
cbname##Source() \
: Type##Source{id}, \
@@ -39,11 +39,11 @@
HALSIMGUI_DATASOURCE(cbname, id, INT, Integer, int)
#define HALSIMGUI_DATASOURCE_INDEXED(cbname, id, TYPE, Type, vtype) \
class cbname##Source : public ::wpi::glass::Type##Source { \
class cbname##Source : public ::wpi::glass::Type##Source { \
public: \
explicit cbname##Source(int32_t index, int channel = -1) \
: Type##Source{::wpi::glass::MakeSourceId(id, \
channel < 0 ? index : channel)}, \
: Type##Source{::wpi::glass::MakeSourceId( \
id, channel < 0 ? index : channel)}, \
m_index{index}, \
m_channel{channel < 0 ? index : channel}, \
m_callback{HALSIM_Register##cbname##Callback(index, CallbackFunc, \
@@ -77,10 +77,10 @@
HALSIMGUI_DATASOURCE_INDEXED(cbname, id, DOUBLE, Double, double)
#define HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, TYPE, Type, vtype) \
class cbname##Source : public ::wpi::glass::Type##Source { \
class cbname##Source : public ::wpi::glass::Type##Source { \
public: \
explicit cbname##Source(int32_t index, int32_t channel) \
: Type##Source{::wpi::glass::MakeSourceId(id, index, channel)}, \
: Type##Source{::wpi::glass::MakeSourceId(id, index, channel)}, \
m_index{index}, \
m_channel{channel}, \
m_callback{HALSIM_Register##cbname##Callback( \

2
simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/HALSimGuiExt.hpp
View File

@@ -10,7 +10,7 @@ struct ImGuiContext;
namespace wpi::glass {
class Context;
} // namespace glass
} // namespace wpi::glass
namespace wpi::gui {
struct Context;

2
simulation/halsim_gui/src/main/native/include/wpi/halsim/gui/SimDeviceGui.hpp
View File

@@ -9,7 +9,7 @@
namespace wpi::glass {
class DataSource;
class DeviceTreeModel;
} // namespace glass
} // namespace wpi::glass
namespace halsimgui {

10
simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
View File

@@ -54,7 +54,8 @@ bool HALSimWS::Initialize() {
try {
m_port = std::stoi(port);
} catch (const std::invalid_argument& err) {
wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n",
err.what());
return false;
}
} else {
@@ -71,8 +72,9 @@ bool HALSimWS::Initialize() {
const char* msgFilters = std::getenv("HALSIMWS_FILTERS");
if (msgFilters != nullptr) {
m_useMsgFiltering = true;
wpi::util::split(wpi::util::trim(msgFilters), ',', -1, false,
[&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
wpi::util::split(
wpi::util::trim(msgFilters), ',', -1, false,
[&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
} else {
m_useMsgFiltering = false;
}
@@ -112,7 +114,7 @@ void HALSimWS::Start() {
// Set up the connection timer
wpi::util::print("Will attempt to connect to ws://{}:{}{}\n", m_host, m_port,
m_uri);
m_uri);
// Set up the timer to attempt connection
m_connect_timer->timeout.connect([this] { AttemptConnect(); });

6
simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
View File

@@ -89,9 +89,9 @@ void HALSimWSClientConnection::OnSimValueChanged(const wpi::util::json& msg) {
wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
std::lock_guard lock(m_buffers_mutex);
return m_buffers.Allocate();
}};
std::lock_guard lock(m_buffers_mutex);
return m_buffers.Allocate();
}};
os << msg;

5
simulation/halsim_ws_client/src/main/native/include/wpi/halsim/ws_client/HALSimWSClientConnection.hpp
View File

@@ -23,8 +23,9 @@ class HALSimWSClientConnection
: public HALSimBaseWebSocketConnection,
public std::enable_shared_from_this<HALSimWSClientConnection> {
public:
explicit HALSimWSClientConnection(std::shared_ptr<HALSimWS> client,
std::shared_ptr<wpi::net::uv::Stream> stream)
explicit HALSimWSClientConnection(
std::shared_ptr<HALSimWS> client,
std::shared_ptr<wpi::net::uv::Stream> stream)
: m_client(std::move(client)),
m_stream(std::move(stream)),
m_buffers(128) {}

3
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
View File

@@ -122,7 +122,8 @@ void HALSimWSProviderDriverStation::DoCancelCallbacks() {
m_matchTimeCbKey = 0;
}
void HALSimWSProviderDriverStation::OnNetValueChanged(const wpi::util::json& json) {
void HALSimWSProviderDriverStation::OnNetValueChanged(
const wpi::util::json& json) {
// ignore if DS connected
if (gDSSocketConnected && *gDSSocketConnected) {
return;

4
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
View File

@@ -115,8 +115,8 @@ void HALSimWSProviderJoystick::OnNetValueChanged(const wpi::util::json& json) {
if ((it = json.find(">buttons")) != json.end()) {
HAL_JoystickButtons buttons{};
wpi::util::json::size_type buttonsCount =
std::min(it.value().size(), static_cast<wpi::util::json::size_type>(64));
wpi::util::json::size_type buttonsCount = std::min(
it.value().size(), static_cast<wpi::util::json::size_type>(64));
if (buttonsCount < 64) {
buttons.available = (1ULL << buttonsCount) - 1;
} else {

3
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
View File

@@ -250,7 +250,8 @@ void HALSimWSProviderSimDevice::OnValueReset(SimDeviceValueData* valueData,
}
}
void HALSimWSProviderSimDevice::ProcessHalCallback(const wpi::util::json& payload) {
void HALSimWSProviderSimDevice::ProcessHalCallback(
const wpi::util::json& payload) {
auto ws = m_ws.lock();
if (ws) {
wpi::util::json netValue = {

21
simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
View File

@@ -91,9 +91,9 @@ void HALSimHttpConnection::OnSimValueChanged(const wpi::util::json& msg) {
// render json to buffers
wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
std::lock_guard lock(m_buffers_mutex);
return m_buffers.Allocate();
}};
std::lock_guard lock(m_buffers_mutex);
return m_buffers.Allocate();
}};
os << msg;
// call the websocket send function on the uv loop
@@ -154,7 +154,7 @@ void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
void HALSimHttpConnection::ProcessRequest() {
wpi::net::UrlParser url{m_request.GetUrl(),
m_request.GetMethod() == wpi::net::HTTP_CONNECT};
m_request.GetMethod() == wpi::net::HTTP_CONNECT};
if (!url.IsValid()) {
// failed to parse URL
MySendError(400, "Invalid URL");
@@ -166,17 +166,18 @@ void HALSimHttpConnection::ProcessRequest() {
path = url.GetPath();
}
if (m_request.GetMethod() == wpi::net::HTTP_GET && wpi::util::starts_with(path, '/') &&
!wpi::util::contains(path, "..") && !wpi::util::contains(path, "//")) {
if (m_request.GetMethod() == wpi::net::HTTP_GET &&
wpi::util::starts_with(path, '/') && !wpi::util::contains(path, "..") &&
!wpi::util::contains(path, "//")) {
// convert to fs native representation
fs::path nativePath;
if (auto userPath = wpi::util::remove_prefix(path, "/user/")) {
nativePath = fs::path{m_server->GetWebrootSys()} /
fs::path{*userPath, fs::path::format::generic_format};
} else {
nativePath =
fs::path{m_server->GetWebrootSys()} /
fs::path{wpi::util::drop_front(path), fs::path::format::generic_format};
nativePath = fs::path{m_server->GetWebrootSys()} /
fs::path{wpi::util::drop_front(path),
fs::path::format::generic_format};
}
if (fs::is_directory(nativePath)) {
@@ -202,5 +203,5 @@ void HALSimHttpConnection::MySendError(int code, std::string_view message) {
void HALSimHttpConnection::Log(int code) {
auto method = wpi::net::http_method_str(m_request.GetMethod());
wpi::util::print(stderr, "{} {} HTTP/{}.{} {}\n", method, m_request.GetUrl(),
m_request.GetMajor(), m_request.GetMinor(), code);
m_request.GetMajor(), m_request.GetMinor(), code);
}

8
simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
View File

@@ -72,7 +72,8 @@ bool HALSimWeb::Initialize() {
try {
m_port = std::stoi(port);
} catch (const std::invalid_argument& err) {
wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n", err.what());
wpi::util::print(stderr, "Error decoding HALSIMWS_PORT ({})\n",
err.what());
return false;
}
} else {
@@ -82,8 +83,9 @@ bool HALSimWeb::Initialize() {
const char* msgFilters = std::getenv("HALSIMWS_FILTERS");
if (msgFilters != nullptr) {
m_useMsgFiltering = true;
wpi::util::split(wpi::util::trim(msgFilters), ',', -1, false,
[&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
wpi::util::split(
wpi::util::trim(msgFilters), ',', -1, false,
[&](auto val) { m_msgFilters[wpi::util::trim(val)] = true; });
} else {
m_useMsgFiltering = false;
}

3
simulation/halsim_ws_server/src/main/native/include/wpi/halsim/ws_server/HALSimHttpConnection.hpp
View File

@@ -25,7 +25,8 @@ class HALSimHttpConnection
public:
HALSimHttpConnection(std::shared_ptr<HALSimWeb> server,
std::shared_ptr<wpi::net::uv::Stream> stream)
: wpi::net::HttpWebSocketServerConnection<HALSimHttpConnection>(stream, {}),
: wpi::net::HttpWebSocketServerConnection<HALSimHttpConnection>(stream,
{}),
m_server(std::move(server)),
m_buffers(128) {}

15
simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
View File

@@ -25,8 +25,8 @@ namespace wpilibws {
void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
const std::string& uri) {
wpi::util::print("Will attempt to connect to: {}:{}{}\n", host, port, uri);
m_websocket = wpi::net::WebSocket::CreateClient(*m_tcp_client.get(), uri,
fmt::format("{}:{}", host, port));
m_websocket = wpi::net::WebSocket::CreateClient(
*m_tcp_client.get(), uri, fmt::format("{}:{}", host, port));
// Hook up events
m_websocket->open.connect_extended([this](auto conn, auto) {
@@ -68,8 +68,9 @@ void WebServerClientTest::InitializeWebSocket(const std::string& host, int port,
// Create tcp client, specify callbacks, and create timers for loop
bool WebServerClientTest::Initialize() {
m_loop.error.connect(
[](uv::Error err) { wpi::util::print(stderr, "uv Error: {}\n", err.str()); });
m_loop.error.connect([](uv::Error err) {
wpi::util::print(stderr, "uv Error: {}\n", err.str());
});
m_tcp_client = uv::Tcp::Create(m_loop);
if (!m_tcp_client) {
@@ -135,9 +136,9 @@ void WebServerClientTest::SendMessage(const wpi::util::json& msg) {
wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
wpi::net::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
std::lock_guard lock(m_buffers_mutex);
return m_buffers->Allocate();
}};
std::lock_guard lock(m_buffers_mutex);
return m_buffers->Allocate();
}};
os << msg;
// Call the websocket send function on the uv loop

6
simulation/halsim_ws_server/src/test/native/cpp/main.cpp
View File

@@ -58,7 +58,7 @@ TEST_F(WebServerIntegrationTest, DISABLED_DigitalOutput) {
}
if (IsConnectedClientWS()) {
wpi::util::print("***** Setting DIO value for pin {} to {}\n", PIN,
(EXPECTED_VALUE ? "true" : "false"));
(EXPECTED_VALUE ? "true" : "false"));
HALSIM_SetDIOValue(PIN, EXPECTED_VALUE);
done = true;
}
@@ -109,8 +109,8 @@ TEST_F(WebServerIntegrationTest, DISABLED_DigitalInput) {
}
if (IsConnectedClientWS()) {
wpi::util::json msg = {{"type", "DIO"},
{"device", std::to_string(PIN)},
{"data", {{"<>value", EXPECTED_VALUE}}}};
{"device", std::to_string(PIN)},
{"data", {{"<>value", EXPECTED_VALUE}}}};
wpi::util::print("***** Input JSON: {}\n", msg.dump());
m_webserverClient->SendMessage(msg);
done = true;

9
simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
View File

@@ -52,7 +52,8 @@ bool HALSimXRP::Initialize() {
try {
m_port = std::stoi(port);
} catch (const std::invalid_argument& err) {
wpi::util::print(stderr, "Error decoding HALSIMXRP_PORT ({})\n", err.what());
wpi::util::print(stderr, "Error decoding HALSIMXRP_PORT ({})\n",
err.what());
return false;
}
} else {
@@ -145,9 +146,9 @@ uv::SimpleBufferPool<4>& HALSimXRP::GetBufferPool() {
void HALSimXRP::SendStateToXRP() {
wpi::util::SmallVector<uv::Buffer, 4> sendBufs;
wpi::net::raw_uv_ostream stream{sendBufs, [&] {
std::lock_guard lock(m_buffer_mutex);
return GetBufferPool().Allocate();
}};
std::lock_guard lock(m_buffer_mutex);
return GetBufferPool().Allocate();
}};
m_xrp.SetupXRPSendBuffer(stream);
m_exec->Send([this, sendBufs]() mutable {

14
simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
View File

@@ -15,7 +15,8 @@
using namespace wpilibxrp;
XRP::XRP()
: m_gyro_name{"XRPGyro"}, m_wpilib_update_func([](const wpi::util::json&) {}) {
: m_gyro_name{"XRPGyro"},
m_wpilib_update_func([](const wpi::util::json&) {}) {
// Set up the inputs and outputs
m_motor_outputs.emplace(0, 0.0f);
m_motor_outputs.emplace(1, 0.0f);
@@ -246,8 +247,8 @@ void XRP::SetupMotorTag(wpi::net::raw_uv_ostream& buf) {
<< static_cast<uint8_t>(motor.first); // Channel
// Convert the value
wpi::util::support::endian::write32be(value,
std::bit_cast<uint32_t>(motor.second));
wpi::util::support::endian::write32be(
value, std::bit_cast<uint32_t>(motor.second));
buf << value[0] << value[1] << value[2] << value[3];
}
}
@@ -262,8 +263,8 @@ void XRP::SetupServoTag(wpi::net::raw_uv_ostream& buf) {
<< static_cast<uint8_t>(servo.first); // Channel
// Convert the value
wpi::util::support::endian::write32be(value,
std::bit_cast<uint32_t>(servo.second));
wpi::util::support::endian::write32be(
value, std::bit_cast<uint32_t>(servo.second));
buf << value[0] << value[1] << value[2] << value[3];
}
}
@@ -374,7 +375,8 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
period = -period;
}
encJson["data"].push_back({wpi::util::json(">period"), wpi::util::json(period)});
encJson["data"].push_back(
{wpi::util::json(">period"), wpi::util::json(period)});
}
m_wpilib_update_func(encJson);