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.
2026-06-22 01:11:42 +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/EncoderGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "EncoderGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <mockdata/EncoderData.h>
+#include <mockdata/SimDeviceData.h>
+#include <wpi/DenseMap.h>
+#include <wpi/StringRef.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static wpi::DenseMap<int, bool> gEncodersOpen;  // indexed by channel A
+
+// read/write open state to ini file
+static void* EncodersReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+                              const char* name) {
+  int num;
+  if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
+  return &gEncodersOpen[num];
+}
+
+static void EncodersReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+                             void* entry, const char* lineStr) {
+  bool* element = static_cast<bool*>(entry);
+  wpi::StringRef line{lineStr};
+  auto [name, value] = line.split('=');
+  name = name.trim();
+  value = value.trim();
+  if (name == "open") {
+    int num;
+    if (value.getAsInteger(10, num)) return;
+    *element = num;
+  }
+}
+
+static void EncodersWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+                             ImGuiTextBuffer* out_buf) {
+  for (auto it : gEncodersOpen)
+    out_buf->appendf("[Encoder][%d]\nopen=%d\n\n", it.first, it.second ? 1 : 0);
+}
+
+static void DisplayEncoders() {
+  bool hasAny = false;
+  static int numEncoder = HAL_GetNumEncoders();
+  ImGui::PushItemWidth(100);
+  for (int i = 0; i < numEncoder; ++i) {
+    if (HALSIM_GetEncoderInitialized(i)) {
+      hasAny = true;
+      char name[32];
+      int chA = HALSIM_GetEncoderDigitalChannelA(i);
+      int chB = HALSIM_GetEncoderDigitalChannelB(i);
+      std::snprintf(name, sizeof(name), "Encoder[%d,%d]", chA, chB);
+      if (auto simDevice = HALSIM_GetEncoderSimDevice(i)) {
+        ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+        ImGui::Text("%s", HALSIM_GetSimDeviceName(simDevice));
+        ImGui::PopStyleColor();
+      } else if (ImGui::CollapsingHeader(
+                     name,
+                     gEncodersOpen[chA] ? ImGuiTreeNodeFlags_DefaultOpen : 0)) {
+        gEncodersOpen[chA] = true;
+
+        ImGui::PushID(i);
+
+        // distance per pulse
+        double distancePerPulse = HALSIM_GetEncoderDistancePerPulse(i);
+        ImGui::LabelText("Dist/Count", "%.6f", distancePerPulse);
+
+        // count
+        int count = HALSIM_GetEncoderCount(i);
+        if (ImGui::InputInt("Count", &count)) HALSIM_SetEncoderCount(i, count);
+        ImGui::SameLine();
+        if (ImGui::Button("Reset")) HALSIM_SetEncoderCount(i, 0);
+
+        // max period
+        double maxPeriod = HALSIM_GetEncoderMaxPeriod(i);
+        ImGui::LabelText("Max Period", "%.6f", maxPeriod);
+
+        // period
+        double period = HALSIM_GetEncoderPeriod(i);
+        if (ImGui::InputDouble("Period", &period, 0, 0, "%.6g"))
+          HALSIM_SetEncoderPeriod(i, period);
+
+        // reverse direction
+        ImGui::LabelText(
+            "Reverse Direction", "%s",
+            HALSIM_GetEncoderReverseDirection(i) ? "true" : "false");
+
+        // direction
+        static const char* options[] = {"reverse", "forward"};
+        int direction = HALSIM_GetEncoderDirection(i) ? 1 : 0;
+        if (ImGui::Combo("Direction", &direction, options, 2))
+          HALSIM_SetEncoderDirection(i, direction);
+
+        ImGui::PopID();
+      } else {
+        gEncodersOpen[chA] = false;
+      }
+    }
+  }
+  ImGui::PopItemWidth();
+  if (!hasAny) ImGui::Text("No encoders");
+}
+
+void EncoderGui::Initialize() {
+  // hook ini handler to save settings
+  ImGuiSettingsHandler iniHandler;
+  iniHandler.TypeName = "Encoder";
+  iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+  iniHandler.ReadOpenFn = EncodersReadOpen;
+  iniHandler.ReadLineFn = EncodersReadLine;
+  iniHandler.WriteAllFn = EncodersWriteAll;
+  ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+  HALSimGui::AddWindow("Encoders", DisplayEncoders,
+                       ImGuiWindowFlags_AlwaysAutoResize);
+  HALSimGui::SetDefaultWindowPos("Encoders", 640, 215);
+}