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https://github.com/wpilibsuite/allwpilib
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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.
This commit is contained in:
Peter Johnson
239
simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
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239
simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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 "SimDeviceGui.h"
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#include <stdint.h>
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#include <vector>
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#include <hal/SimDevice.h>
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <mockdata/SimDeviceData.h>
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#include <wpi/StringMap.h>
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#include "HALSimGui.h"
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using namespace halsimgui;
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namespace {
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struct ElementInfo {
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bool open = false;
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bool visible = true;
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};
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} // namespace
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static std::vector<std::function<void()>> gDeviceExecutors;
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static wpi::StringMap<ElementInfo> gElements;
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// read/write open state to ini file
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static void* DevicesReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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const char* name) {
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return &gElements[name];
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}
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static void DevicesReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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void* entry, const char* lineStr) {
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ElementInfo* element = static_cast<ElementInfo*>(entry);
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wpi::StringRef line{lineStr};
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auto [name, value] = line.split('=');
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name = name.trim();
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value = value.trim();
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if (name == "open") {
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int num;
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if (value.getAsInteger(10, num)) return;
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element->open = num;
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}
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}
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static void DevicesWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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ImGuiTextBuffer* out_buf) {
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for (auto&& entry : gElements) {
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out_buf->appendf("[Device][%s]\nopen=%d\n\n", entry.getKey().data(),
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entry.getValue().open ? 1 : 0);
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}
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}
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void SimDeviceGui::Hide(const char* name) { gElements[name].visible = false; }
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void SimDeviceGui::Add(std::function<void()> execute) {
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if (execute) gDeviceExecutors.emplace_back(std::move(execute));
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}
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bool SimDeviceGui::StartDevice(const char* label, ImGuiTreeNodeFlags flags) {
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auto& element = gElements[label];
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if (!element.visible) return false;
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if (ImGui::CollapsingHeader(
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label, flags | (element.open ? ImGuiTreeNodeFlags_DefaultOpen : 0))) {
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ImGui::PushID(label);
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element.open = true;
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return true;
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}
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element.open = false;
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return false;
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}
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void SimDeviceGui::FinishDevice() { ImGui::PopID(); }
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bool DisplayValueImpl(const char* name, bool readonly, HAL_Value* value,
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const char** options, int32_t numOptions) {
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// read-only
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if (readonly) {
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switch (value->type) {
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case HAL_BOOLEAN:
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ImGui::LabelText(name, "%s", value->data.v_boolean ? "true" : "false");
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break;
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case HAL_DOUBLE:
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ImGui::LabelText(name, "%.6f", value->data.v_double);
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break;
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case HAL_ENUM: {
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int current = value->data.v_enum;
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if (current < 0 || current >= numOptions)
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ImGui::LabelText(name, "%d (unknown)", current);
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else
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ImGui::LabelText(name, "%s", options[current]);
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break;
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}
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case HAL_INT:
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ImGui::LabelText(name, "%d", static_cast<int>(value->data.v_int));
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break;
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case HAL_LONG:
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ImGui::LabelText(name, "%lld",
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static_cast<long long int>( // NOLINT(runtime/int)
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value->data.v_long));
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break;
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default:
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break;
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}
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return false;
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}
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// writable
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switch (value->type) {
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case HAL_BOOLEAN: {
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static const char* boolOptions[] = {"false", "true"};
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int val = value->data.v_boolean ? 1 : 0;
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if (ImGui::Combo(name, &val, boolOptions, 2)) {
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value->data.v_boolean = val;
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return true;
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}
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break;
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}
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case HAL_DOUBLE: {
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if (ImGui::InputDouble(name, &value->data.v_double, 0, 0, "%.6f",
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ImGuiInputTextFlags_EnterReturnsTrue))
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return true;
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break;
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}
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case HAL_ENUM: {
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int current = value->data.v_enum;
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if (ImGui::Combo(name, ¤t, options, numOptions)) {
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value->data.v_enum = current;
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return true;
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}
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break;
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}
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case HAL_INT: {
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if (ImGui::InputScalar(name, ImGuiDataType_S32, &value->data.v_int,
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nullptr, nullptr, nullptr,
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ImGuiInputTextFlags_EnterReturnsTrue))
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return true;
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break;
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}
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case HAL_LONG: {
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if (ImGui::InputScalar(name, ImGuiDataType_S64, &value->data.v_long,
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nullptr, nullptr, nullptr,
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ImGuiInputTextFlags_EnterReturnsTrue))
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return true;
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break;
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}
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default:
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break;
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}
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return false;
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}
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bool SimDeviceGui::DisplayValue(const char* name, bool readonly,
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HAL_Value* value, const char** options,
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int32_t numOptions) {
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ImGui::SetNextItemWidth(ImGui::GetWindowWidth() * 0.5f);
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return DisplayValueImpl(name, readonly, value, options, numOptions);
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}
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static void SimDeviceDisplayValue(const char* name, void*,
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HAL_SimValueHandle handle, HAL_Bool readonly,
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const HAL_Value* value) {
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int32_t numOptions = 0;
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const char** options = nullptr;
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if (value->type == HAL_ENUM)
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options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
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HAL_Value valueCopy = *value;
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if (DisplayValueImpl(name, readonly, &valueCopy, options, numOptions))
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HAL_SetSimValue(handle, valueCopy);
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}
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static void SimDeviceDisplayDevice(const char* name, void*,
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HAL_SimDeviceHandle handle) {
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auto it = gElements.find(name);
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if (it != gElements.end() && !it->second.visible) return;
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if (SimDeviceGui::StartDevice(name)) {
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ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.5f);
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HALSIM_EnumerateSimValues(handle, nullptr, SimDeviceDisplayValue);
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ImGui::PopItemWidth();
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SimDeviceGui::FinishDevice();
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}
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}
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static void DisplayDeviceTree() {
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for (auto&& execute : gDeviceExecutors) {
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if (execute) execute();
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}
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HALSIM_EnumerateSimDevices("", nullptr, SimDeviceDisplayDevice);
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}
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void SimDeviceGui::Initialize() {
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// hook ini handler to save device settings
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ImGuiSettingsHandler iniHandler;
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iniHandler.TypeName = "Device";
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iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
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iniHandler.ReadOpenFn = DevicesReadOpen;
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iniHandler.ReadLineFn = DevicesReadLine;
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iniHandler.WriteAllFn = DevicesWriteAll;
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ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
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HALSimGui::AddWindow("Other Devices", DisplayDeviceTree);
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HALSimGui::SetDefaultWindowPos("Other Devices", 1025, 20);
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HALSimGui::SetDefaultWindowSize("Other Devices", 250, 695);
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}
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extern "C" {
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void HALSIMGUI_DeviceTreeAdd(void* param, void (*execute)(void*)) {
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if (execute) SimDeviceGui::Add([=] { execute(param); });
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}
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void HALSIMGUI_DeviceTreeHide(const char* name) { SimDeviceGui::Hide(name); }
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HAL_Bool HALSIMGUI_DeviceTreeDisplayValue(const char* name, HAL_Bool readonly,
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struct HAL_Value* value,
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const char** options,
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int32_t numOptions) {
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return SimDeviceGui::DisplayValue(name, readonly, value, options, numOptions);
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}
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HAL_Bool HALSIMGUI_DeviceTreeStartDevice(const char* label, int32_t flags) {
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return SimDeviceGui::StartDevice(label, flags);
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}
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void HALSIMGUI_DeviceTreeFinishDevice(void) { SimDeviceGui::FinishDevice(); }
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} // extern "C"
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