Add simulation GUI plugin

This uses Dear Imgui to provide a cross-platform integrated GUI for robot simulation. The GUI provides fully integrated DS and joystick support so it's not necessary to run the official DS.
2026-06-20 00:51:42 +00:00 · 2019-09-23 00:24:10 -07:00
parent f97d16073a
commit 2b4894038e
42 changed files with 2673 additions and 1 deletions
--- a/simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* 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 */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "DIOGui.h"
+
+#include <cstdio>
+#include <cstring>
+#include <memory>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/DIOData.h>
+#include <mockdata/DigitalPWMData.h>
+#include <mockdata/EncoderData.h>
+#include <mockdata/SimDeviceData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void LabelSimDevice(const char* name, HAL_SimDeviceHandle simDevice) {
+  ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+  ImGui::LabelText(name, "%s", HALSIM_GetSimDeviceName(simDevice));
+  ImGui::PopStyleColor();
+}
+
+static void DisplayDIO() {
+  bool hasAny = false;
+  static int numDIO = HAL_GetNumDigitalChannels();
+  static int numPWM = HAL_GetNumDigitalPWMOutputs();
+  static int numEncoder = HAL_GetNumEncoders();
+  static auto pwmMap = std::make_unique<int[]>(numDIO);
+  static auto encoderMap = std::make_unique<int[]>(numDIO);
+
+  std::memset(pwmMap.get(), 0, numDIO * sizeof(pwmMap[0]));
+  std::memset(encoderMap.get(), 0, numDIO * sizeof(encoderMap[0]));
+
+  for (int i = 0; i < numPWM; ++i) {
+    if (HALSIM_GetDigitalPWMInitialized(i)) {
+      int channel = HALSIM_GetDigitalPWMPin(i);
+      if (channel >= 0 && channel < numDIO) pwmMap[channel] = i + 1;
+    }
+  }
+
+  for (int i = 0; i < numEncoder; ++i) {
+    if (HALSIM_GetEncoderInitialized(i)) {
+      int channel;
+      channel = HALSIM_GetEncoderDigitalChannelA(i);
+      if (channel >= 0 && channel < numDIO) encoderMap[channel] = i + 1;
+      channel = HALSIM_GetEncoderDigitalChannelB(i);
+      if (channel >= 0 && channel < numDIO) encoderMap[channel] = i + 1;
+    }
+  }
+
+  ImGui::PushItemWidth(100);
+  for (int i = 0; i < numDIO; ++i) {
+    if (HALSIM_GetDIOInitialized(i)) {
+      hasAny = true;
+      char name[32];
+      if (pwmMap[i] > 0) {
+        std::snprintf(name, sizeof(name), "PWM[%d]", i);
+        if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+          LabelSimDevice(name, simDevice);
+        } else {
+          ImGui::LabelText(name, "%0.3f",
+                           HALSIM_GetDigitalPWMDutyCycle(pwmMap[i] - 1));
+        }
+      } else if (encoderMap[i] > 0) {
+        std::snprintf(name, sizeof(name), " In[%d]", i);
+        if (auto simDevice = HALSIM_GetEncoderSimDevice(encoderMap[i] - 1)) {
+          LabelSimDevice(name, simDevice);
+        } else {
+          ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+          ImGui::LabelText(name, "Encoder[%d,%d]",
+                           HALSIM_GetEncoderDigitalChannelA(encoderMap[i] - 1),
+                           HALSIM_GetEncoderDigitalChannelB(encoderMap[i] - 1));
+          ImGui::PopStyleColor();
+        }
+      } else if (!HALSIM_GetDIOIsInput(i)) {
+        std::snprintf(name, sizeof(name), "Out[%d]", i);
+        if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+          LabelSimDevice(name, simDevice);
+        } else {
+          ImGui::LabelText(name, "%s",
+                           HALSIM_GetDIOValue(i) ? "1 (high)" : "0 (low)");
+        }
+      } else {
+        std::snprintf(name, sizeof(name), " In[%d]", i);
+        if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+          LabelSimDevice(name, 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);
+        }
+      }
+    }
+  }
+  ImGui::PopItemWidth();
+  if (!hasAny) ImGui::Text("No Digital I/O");
+}
+
+void DIOGui::Initialize() {
+  HALSimGui::AddWindow("DIO", DisplayDIO, ImGuiWindowFlags_AlwaysAutoResize);
+  HALSimGui::SetDefaultWindowPos("DIO", 470, 20);
+}