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.
2026-06-21 01:01:43 +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/RoboRioGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.cpp
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "RoboRioGui.h"
+
+#include <imgui.h>
+#include <mockdata/RoboRioData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayRoboRio() {
+  ImGui::Button("User Button");
+  HALSIM_SetRoboRioFPGAButton(0, ImGui::IsItemActive());
+
+  ImGui::PushItemWidth(100);
+
+  if (ImGui::CollapsingHeader("RoboRIO Input")) {
+    {
+      double val = HALSIM_GetRoboRioVInVoltage(0);
+      if (ImGui::InputDouble("Voltage (V)", &val))
+        HALSIM_SetRoboRioVInVoltage(0, val);
+    }
+
+    {
+      double val = HALSIM_GetRoboRioVInCurrent(0);
+      if (ImGui::InputDouble("Current (A)", &val))
+        HALSIM_SetRoboRioVInCurrent(0, val);
+    }
+  }
+
+  if (ImGui::CollapsingHeader("6V Rail")) {
+    {
+      double val = HALSIM_GetRoboRioUserVoltage6V(0);
+      if (ImGui::InputDouble("Voltage (V)", &val))
+        HALSIM_SetRoboRioUserVoltage6V(0, val);
+    }
+
+    {
+      double val = HALSIM_GetRoboRioUserCurrent6V(0);
+      if (ImGui::InputDouble("Current (A)", &val))
+        HALSIM_SetRoboRioUserCurrent6V(0, val);
+    }
+
+    {
+      static const char* options[] = {"inactive", "active"};
+      int val = HALSIM_GetRoboRioUserActive6V(0) ? 1 : 0;
+      if (ImGui::Combo("Active", &val, options, 2))
+        HALSIM_SetRoboRioUserActive6V(0, val);
+    }
+
+    {
+      int val = HALSIM_GetRoboRioUserFaults6V(0);
+      if (ImGui::InputInt("Faults", &val))
+        HALSIM_SetRoboRioUserFaults6V(0, val);
+    }
+  }
+
+  if (ImGui::CollapsingHeader("5V Rail")) {
+    {
+      double val = HALSIM_GetRoboRioUserVoltage5V(0);
+      if (ImGui::InputDouble("Voltage (V)", &val))
+        HALSIM_SetRoboRioUserVoltage5V(0, val);
+    }
+
+    {
+      double val = HALSIM_GetRoboRioUserCurrent5V(0);
+      if (ImGui::InputDouble("Current (A)", &val))
+        HALSIM_SetRoboRioUserCurrent5V(0, val);
+    }
+
+    {
+      static const char* options[] = {"inactive", "active"};
+      int val = HALSIM_GetRoboRioUserActive5V(0) ? 1 : 0;
+      if (ImGui::Combo("Active", &val, options, 2))
+        HALSIM_SetRoboRioUserActive5V(0, val);
+    }
+
+    {
+      int val = HALSIM_GetRoboRioUserFaults5V(0);
+      if (ImGui::InputInt("Faults", &val))
+        HALSIM_SetRoboRioUserFaults5V(0, val);
+    }
+  }
+
+  if (ImGui::CollapsingHeader("3.3V Rail")) {
+    {
+      double val = HALSIM_GetRoboRioUserVoltage3V3(0);
+      if (ImGui::InputDouble("Voltage (V)", &val))
+        HALSIM_SetRoboRioUserVoltage3V3(0, val);
+    }
+
+    {
+      double val = HALSIM_GetRoboRioUserCurrent3V3(0);
+      if (ImGui::InputDouble("Current (A)", &val))
+        HALSIM_SetRoboRioUserCurrent3V3(0, val);
+    }
+
+    {
+      static const char* options[] = {"inactive", "active"};
+      int val = HALSIM_GetRoboRioUserActive3V3(0) ? 1 : 0;
+      if (ImGui::Combo("Active", &val, options, 2))
+        HALSIM_SetRoboRioUserActive3V3(0, val);
+    }
+
+    {
+      int val = HALSIM_GetRoboRioUserFaults3V3(0);
+      if (ImGui::InputInt("Faults", &val))
+        HALSIM_SetRoboRioUserFaults3V3(0, val);
+    }
+  }
+
+  ImGui::PopItemWidth();
+}
+
+void RoboRioGui::Initialize() {
+  HALSimGui::AddWindow("RoboRIO", DisplayRoboRio,
+                       ImGuiWindowFlags_AlwaysAutoResize);
+  // hide it by default
+  HALSimGui::SetWindowVisibility("RoboRIO", HALSimGui::kHide);
+  HALSimGui::SetDefaultWindowPos("RoboRIO", 5, 125);
+}