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[glass] Add glass: an application for display of robot data
This reuses many pieces of the current simulation GUI. The common pieces have been refactored into the libglass library. The libglass library is designed to be usable for other standalone data visualization applications (e.g. viewing data logs). The name "glass" comes from "glass cockpit", as the application features several multi-function displays that can be adjusted to display robot information as needed.
This commit is contained in:
Peter Johnson
244
simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
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244
simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
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/*----------------------------------------------------------------------------*/
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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 */
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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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#include "DIOSimGui.h"
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#include <glass/hardware/DIO.h>
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#include <glass/hardware/Encoder.h>
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#include <memory>
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#include <vector>
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#include <hal/Ports.h>
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#include <hal/simulation/DIOData.h>
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#include <hal/simulation/DigitalPWMData.h>
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#include <hal/simulation/DutyCycleData.h>
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#include <hal/simulation/EncoderData.h>
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#include <hal/simulation/SimDeviceData.h>
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#include "EncoderSimGui.h"
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#include "HALDataSource.h"
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#include "HALSimGui.h"
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using namespace halsimgui;
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namespace {
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HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(DIOValue, "DIO");
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HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DigitalPWMDutyCycle, "DPWM");
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HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DutyCycleOutput, "DutyCycle");
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class DPWMSimModel : public glass::DPWMModel {
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public:
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DPWMSimModel(int32_t index, int32_t dioChannel)
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: m_dioChannel{dioChannel}, m_index{index}, m_valueData{index} {}
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void Update() override {}
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bool Exists() override { return HALSIM_GetDigitalPWMInitialized(m_index); }
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const char* GetSimDevice() const override {
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if (auto simDevice = HALSIM_GetDIOSimDevice(m_dioChannel)) {
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return HALSIM_GetSimDeviceName(simDevice);
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} else {
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return nullptr;
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}
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}
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glass::DataSource* GetValueData() override { return &m_valueData; }
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void SetValue(double val) override {
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HALSIM_SetDigitalPWMDutyCycle(m_index, val);
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}
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private:
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int32_t m_dioChannel;
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int32_t m_index;
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DigitalPWMDutyCycleSource m_valueData;
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};
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class DutyCycleSimModel : public glass::DutyCycleModel {
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public:
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explicit DutyCycleSimModel(int32_t index)
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: m_index{index}, m_valueData{index} {}
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void Update() override {}
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bool Exists() override { return HALSIM_GetDutyCycleInitialized(m_index); }
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const char* GetSimDevice() const override {
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if (auto simDevice = HALSIM_GetDutyCycleSimDevice(m_index)) {
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return HALSIM_GetSimDeviceName(simDevice);
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} else {
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return nullptr;
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}
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}
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glass::DataSource* GetValueData() override { return &m_valueData; }
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void SetValue(double val) override {
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HALSIM_SetDutyCycleOutput(m_index, val);
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}
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private:
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int32_t m_index;
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DutyCycleOutputSource m_valueData;
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};
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class DIOSimModel : public glass::DIOModel {
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public:
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explicit DIOSimModel(int32_t channel)
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: m_channel{channel}, m_valueData{channel} {}
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void Update() override {}
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bool Exists() override { return HALSIM_GetDIOInitialized(m_channel); }
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bool IsReadOnly() override { return !IsInput(); }
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const char* GetName() const override { return ""; }
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const char* GetSimDevice() const override {
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if (auto simDevice = HALSIM_GetDIOSimDevice(m_channel)) {
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return HALSIM_GetSimDeviceName(simDevice);
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} else {
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return nullptr;
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}
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}
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DPWMSimModel* GetDPWM() override { return m_dpwmSource; }
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DutyCycleSimModel* GetDutyCycle() override { return m_dutyCycleSource; }
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glass::EncoderModel* GetEncoder() override { return m_encoderSource; }
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void SetDPWM(DPWMSimModel* model) { m_dpwmSource = model; }
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void SetDutyCycle(DutyCycleSimModel* model) { m_dutyCycleSource = model; }
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void SetEncoder(glass::EncoderModel* model) { m_encoderSource = model; }
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bool IsInput() const override { return HALSIM_GetDIOIsInput(m_channel); }
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glass::DataSource* GetValueData() override { return &m_valueData; }
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void SetValue(bool val) override { HALSIM_SetDIOValue(m_channel, val); }
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private:
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int32_t m_channel;
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DIOValueSource m_valueData;
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DPWMSimModel* m_dpwmSource = nullptr;
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DutyCycleSimModel* m_dutyCycleSource = nullptr;
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glass::EncoderModel* m_encoderSource = nullptr;
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};
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class DIOsSimModel : public glass::DIOsModel {
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public:
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DIOsSimModel()
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: m_dioModels(HAL_GetNumDigitalChannels()),
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m_dpwmModels(HAL_GetNumDigitalPWMOutputs()),
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m_dutyCycleModels(HAL_GetNumDutyCycles()) {}
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void Update() override;
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bool Exists() override { return true; }
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void ForEachDIO(
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wpi::function_ref<void(glass::DIOModel& model, int index)> func) override;
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private:
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// indexed by channel
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std::vector<std::unique_ptr<DIOSimModel>> m_dioModels;
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// indexed by index
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std::vector<std::unique_ptr<DPWMSimModel>> m_dpwmModels;
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std::vector<std::unique_ptr<DutyCycleSimModel>> m_dutyCycleModels;
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};
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} // namespace
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void DIOsSimModel::Update() {
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const int32_t numDIO = m_dioModels.size();
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for (int i = 0; i < numDIO; ++i) {
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auto& model = m_dioModels[i];
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if (HALSIM_GetDIOInitialized(i)) {
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if (!model) {
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model = std::make_unique<DIOSimModel>(i);
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}
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model->SetDPWM(nullptr);
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model->SetDutyCycle(nullptr);
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model->SetEncoder(nullptr);
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} else {
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model.reset();
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}
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}
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const int32_t numPWM = m_dpwmModels.size();
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for (int32_t i = 0; i < numPWM; ++i) {
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auto& model = m_dpwmModels[i];
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if (HALSIM_GetDigitalPWMInitialized(i)) {
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if (!model) {
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int channel = HALSIM_GetDigitalPWMPin(i);
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if (channel >= 0 && channel < numDIO && m_dioModels[channel]) {
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model = std::make_unique<DPWMSimModel>(i, channel);
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m_dioModels[channel]->SetDPWM(model.get());
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}
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}
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} else {
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model.reset();
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}
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}
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const int32_t numDutyCycle = m_dutyCycleModels.size();
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for (int32_t i = 0; i < numDutyCycle; ++i) {
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auto& model = m_dutyCycleModels[i];
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if (HALSIM_GetDutyCycleInitialized(i)) {
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if (!model) {
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int channel = HALSIM_GetDutyCycleDigitalChannel(i);
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if (channel >= 0 && channel < numDIO && m_dioModels[channel]) {
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model = std::make_unique<DutyCycleSimModel>(i);
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m_dioModels[channel]->SetDutyCycle(model.get());
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}
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}
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} else {
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model.reset();
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}
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}
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EncoderSimGui::GetEncodersModel().ForEachEncoder([&](auto& encoder, int i) {
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int channel = encoder.GetChannelA();
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if (channel >= 0 && channel < numDIO && m_dioModels[channel])
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m_dioModels[channel]->SetEncoder(&encoder);
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channel = encoder.GetChannelB();
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if (channel >= 0 && channel < numDIO && m_dioModels[channel])
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m_dioModels[channel]->SetEncoder(&encoder);
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});
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}
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void DIOsSimModel::ForEachDIO(
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wpi::function_ref<void(glass::DIOModel& model, int index)> func) {
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const int32_t numDIO = m_dioModels.size();
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for (int32_t i = 0; i < numDIO; ++i) {
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if (auto model = m_dioModels[i].get()) {
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func(*model, i);
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}
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}
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}
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static bool DIOAnyInitialized() {
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static const int32_t num = HAL_GetNumDigitalChannels();
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for (int32_t i = 0; i < num; ++i) {
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if (HALSIM_GetDIOInitialized(i)) return true;
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}
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return false;
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}
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void DIOSimGui::Initialize() {
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HALSimGui::halProvider.Register(
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"DIO", DIOAnyInitialized, [] { return std::make_unique<DIOsSimModel>(); },
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[](glass::Window* win, glass::Model* model) {
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win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
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win->SetDefaultPos(470, 20);
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return glass::MakeFunctionView([=] {
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glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
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HALSimGui::halProvider.AreOutputsEnabled());
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});
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});
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}
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