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/PDPGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PDPGui.cpp
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "PDPGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/PDPData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayPDP() {
+  bool hasAny = false;
+  static int numPDP = HAL_GetNumPDPModules();
+  static int numChannels = HAL_GetNumPDPChannels();
+  ImGui::PushItemWidth(150);
+  for (int i = 0; i < numPDP; ++i) {
+    if (HALSIM_GetPDPInitialized(i)) {
+      hasAny = true;
+
+      char name[32];
+      std::snprintf(name, sizeof(name), "PDP[%d]", i);
+      if (ImGui::CollapsingHeader(name, ImGuiTreeNodeFlags_DefaultOpen)) {
+        ImGui::PushID(i);
+
+        // temperature
+        double temp = HALSIM_GetPDPTemperature(i);
+        if (ImGui::InputDouble("Temp", &temp))
+          HALSIM_SetPDPTemperature(i, temp);
+
+        // voltage
+        double volts = HALSIM_GetPDPVoltage(i);
+        if (ImGui::InputDouble("Voltage", &volts))
+          HALSIM_SetPDPVoltage(i, volts);
+
+        // channel currents; show as two columns laid out like PDP
+        ImGui::Text("Channel Current (A)");
+        ImGui::Columns(2, "channels", false);
+        for (int left = 0, right = numChannels - 1; left < right;
+             ++left, --right) {
+          double val;
+
+          std::snprintf(name, sizeof(name), "[%d]", left);
+          val = HALSIM_GetPDPCurrent(i, left);
+          if (ImGui::InputDouble(name, &val))
+            HALSIM_SetPDPCurrent(i, left, val);
+          ImGui::NextColumn();
+
+          std::snprintf(name, sizeof(name), "[%d]", right);
+          val = HALSIM_GetPDPCurrent(i, right);
+          if (ImGui::InputDouble(name, &val))
+            HALSIM_SetPDPCurrent(i, right, val);
+          ImGui::NextColumn();
+        }
+        ImGui::Columns(1);
+        ImGui::PopID();
+      }
+    }
+  }
+  ImGui::PopItemWidth();
+  if (!hasAny) ImGui::Text("No PDPs");
+}
+
+void PDPGui::Initialize() {
+  HALSimGui::AddWindow("PDP", DisplayPDP, ImGuiWindowFlags_AlwaysAutoResize);
+  // hide it by default
+  HALSimGui::SetWindowVisibility("PDP", HALSimGui::kHide);
+  HALSimGui::SetDefaultWindowPos("PDP", 245, 155);
+}