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[sim] Sim GUI DS: Add "Disconnected" state and start in it (#6218)

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The default state for the DS in the simulated HAL is changed to disconnected.

The FMS view is now only editable in DS disconnected state.

This enables more robot and field-like testing of robot code, as the
alliance color and other parameters start in invalid states and are
only set when the DS connects.
This commit is contained in:
Peter Johnson
2024-01-20 21:10:02 -08:00
committed by GitHub
parent e408f3ad27
commit 3928ed5647
9 changed files with 105 additions and 53 deletions
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15
glass/src/lib/native/cpp/other/FMS.cpp
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@@ -14,7 +14,7 @@ using namespace glass;
static const char* stations[] = {"Invalid", "Red 1", "Red 2", "Red 3",
"Blue 1", "Blue 2", "Blue 3"};
void glass::DisplayFMS(FMSModel* model) {
void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
if (!model->Exists() || model->IsReadOnly()) {
return DisplayFMSReadOnly(model);
}
@@ -31,10 +31,17 @@ void glass::DisplayFMS(FMSModel* model) {
// DS Attached
if (auto data = model->GetDsAttachedData()) {
bool val = data->GetValue();
if (ImGui::Checkbox("DS Attached", &val)) {
model->SetDsAttached(val);
if (editableDsAttached) {
if (ImGui::Checkbox("DS Attached", &val)) {
model->SetDsAttached(val);
}
data->EmitDrag();
} else {
ImGui::Selectable("DS Attached: ");
data->EmitDrag();
ImGui::SameLine();
ImGui::TextUnformatted(val ? "Yes" : "No");
}
data->EmitDrag();
}
// Alliance Station

3
glass/src/lib/native/include/glass/other/FMS.h
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@@ -46,8 +46,9 @@ class FMSModel : public Model {
*
* @param matchTimeEnabled If not null, a checkbox is displayed for
* "enable match time" linked to this value
* @param editableDsAttached If true, DS attached should be editable
*/
void DisplayFMS(FMSModel* model);
void DisplayFMS(FMSModel* model, bool editableDsAttached);
void DisplayFMSReadOnly(FMSModel* model);
} // namespace glass

2
glass/src/libnt/native/cpp/StandardNetworkTables.cpp
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@@ -63,7 +63,7 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
[](Window* win, Model* model, const char*) {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
return MakeFunctionView(
[=] { DisplayFMS(static_cast<FMSModel*>(model)); });
[=] { DisplayFMS(static_cast<FMSModel*>(model), true); });
});
provider.Register(
NTDigitalInputModel::kType,

1
hal/src/main/native/sim/DriverStation.cpp
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@@ -382,6 +382,7 @@ void NewDriverStationData() {
}
lastGiven = given;
SimDriverStationData->dsAttached = true;
driverStation->newDataEvents.Wakeup();
SimDriverStationData->CallNewDataCallbacks();
}

2
hal/src/main/native/sim/mockdata/DriverStationData.cpp
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@@ -28,7 +28,7 @@ void DriverStationData::ResetData() {
test.Reset(false);
eStop.Reset(false);
fmsAttached.Reset(false);
dsAttached.Reset(true);
dsAttached.Reset(false);
allianceStationId.Reset(static_cast<HAL_AllianceStationID>(0));
matchTime.Reset(-1.0);

2
hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
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@@ -122,7 +122,7 @@ class DriverStationData {
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEStopName> eStop{false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFmsAttachedName> fmsAttached{
false};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDsAttachedName> dsAttached{true};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDsAttachedName> dsAttached{false};
SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
GetAllianceStationIdName>
allianceStationId{static_cast<HAL_AllianceStationID>(0)};

121
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
View File

@@ -227,37 +227,25 @@ class FMSSimModel : public glass::FMSModel {
glass::DataSource* GetAutonomousData() override { return &m_autonomous; }
std::string_view GetGameSpecificMessage(
wpi::SmallVectorImpl<char>& buf) override {
HAL_MatchInfo info;
HALSIM_GetMatchInfo(&info);
buf.clear();
buf.append(info.gameSpecificMessage,
info.gameSpecificMessage + info.gameSpecificMessageSize);
return std::string_view(buf.begin(), buf.size());
return m_gameMessage;
}
void SetFmsAttached(bool val) override {
HALSIM_SetDriverStationFmsAttached(val);
}
void SetDsAttached(bool val) override {
HALSIM_SetDriverStationDsAttached(val);
}
void SetFmsAttached(bool val) override { m_fmsAttached.SetValue(val); }
void SetDsAttached(bool val) override { m_dsAttached.SetValue(val); }
void SetAllianceStationId(int val) override {
HALSIM_SetDriverStationAllianceStationId(
static_cast<HAL_AllianceStationID>(val));
}
void SetMatchTime(double val) override {
HALSIM_SetDriverStationMatchTime(val);
}
void SetEStop(bool val) override { HALSIM_SetDriverStationEStop(val); }
void SetEnabled(bool val) override { HALSIM_SetDriverStationEnabled(val); }
void SetTest(bool val) override { HALSIM_SetDriverStationTest(val); }
void SetAutonomous(bool val) override {
HALSIM_SetDriverStationAutonomous(val);
m_allianceStationId.SetValue(val);
}
void SetMatchTime(double val) override { m_matchTime.SetValue(val); }
void SetEStop(bool val) override { m_estop.SetValue(val); }
void SetEnabled(bool val) override { m_enabled.SetValue(val); }
void SetTest(bool val) override { m_test.SetValue(val); }
void SetAutonomous(bool val) override { m_autonomous.SetValue(val); }
void SetGameSpecificMessage(std::string_view val) override {
HALSIM_SetGameSpecificMessage(val.data(), val.size());
m_gameMessage = val;
}
void UpdateHAL();
void Update() override;
bool Exists() override { return true; }
@@ -274,6 +262,7 @@ class FMSSimModel : public glass::FMSModel {
glass::DataSource m_test{"FMS:TestMode"};
glass::DataSource m_autonomous{"FMS:AutonomousMode"};
double m_startMatchTime = -1.0;
std::string m_gameMessage;
};
} // namespace
@@ -1019,6 +1008,21 @@ void RobotJoystick::GetHAL(int i) {
HALSIM_GetJoystickPOVs(i, &data.povs);
}
static void DriverStationConnect(bool enabled, bool autonomous, bool test) {
if (!HALSIM_GetDriverStationDsAttached()) {
// initialize FMS bits too
gFMSModel->SetDsAttached(true);
gFMSModel->SetEnabled(enabled);
gFMSModel->SetAutonomous(autonomous);
gFMSModel->SetTest(test);
gFMSModel->UpdateHAL();
} else {
HALSIM_SetDriverStationEnabled(enabled);
HALSIM_SetDriverStationAutonomous(autonomous);
HALSIM_SetDriverStationTest(test);
}
}
static void DriverStationExecute() {
// update sources
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
@@ -1072,6 +1076,7 @@ static void DriverStationExecute() {
joy.Update();
}
bool isAttached = HALSIM_GetDriverStationDsAttached();
bool isEnabled = HALSIM_GetDriverStationEnabled();
bool isAuto = HALSIM_GetDriverStationAutonomous();
bool isTest = HALSIM_GetDriverStationTest();
@@ -1100,38 +1105,45 @@ static void DriverStationExecute() {
ImGui::SetNextWindowPos(ImVec2{5, 20}, ImGuiCond_FirstUseEver);
ImGui::Begin("Robot State", nullptr, ImGuiWindowFlags_AlwaysAutoResize);
if (ImGui::Selectable("Disabled", !isEnabled) || disableHotkey) {
if (ImGui::Selectable("Disconnected", !isAttached)) {
HALSIM_SetDriverStationEnabled(false);
HALSIM_SetDriverStationDsAttached(false);
isAttached = false;
gFMSModel->Update();
}
if (ImGui::Selectable("Autonomous", isEnabled && isAuto && !isTest)) {
HALSIM_SetDriverStationAutonomous(true);
HALSIM_SetDriverStationTest(false);
HALSIM_SetDriverStationEnabled(true);
if (ImGui::Selectable("Disabled", isAttached && !isEnabled) ||
disableHotkey) {
DriverStationConnect(false, false, false);
}
if (ImGui::Selectable("Teleoperated", isEnabled && !isAuto && !isTest) ||
if (ImGui::Selectable("Autonomous",
isAttached && isEnabled && isAuto && !isTest)) {
DriverStationConnect(true, true, false);
}
if (ImGui::Selectable("Teleoperated",
isAttached && isEnabled && !isAuto && !isTest) ||
enableHotkey) {
HALSIM_SetDriverStationAutonomous(false);
HALSIM_SetDriverStationTest(false);
HALSIM_SetDriverStationEnabled(true);
DriverStationConnect(true, false, false);
}
if (ImGui::Selectable("Test", isEnabled && isTest)) {
HALSIM_SetDriverStationAutonomous(false);
HALSIM_SetDriverStationTest(true);
HALSIM_SetDriverStationEnabled(true);
DriverStationConnect(true, false, true);
}
ImGui::End();
}
// Update HAL
for (int i = 0, end = gRobotJoysticks.size();
i < end && i < HAL_kMaxJoysticks; ++i) {
gRobotJoysticks[i].SetHAL(i);
if (isAttached) {
for (int i = 0, end = gRobotJoysticks.size();
i < end && i < HAL_kMaxJoysticks; ++i) {
gRobotJoysticks[i].SetHAL(i);
}
}
// Send new data every 20 ms (may be slower depending on GUI refresh rate)
static double lastNewDataTime = 0.0;
if ((curTime - lastNewDataTime) > 0.02 && !HALSIM_IsTimingPaused()) {
if ((curTime - lastNewDataTime) > 0.02 && !HALSIM_IsTimingPaused() &&
isAttached) {
lastNewDataTime = curTime;
gFMSModel->Update();
HALSIM_NotifyDriverStationNewData();
}
}
@@ -1144,6 +1156,20 @@ FMSSimModel::FMSSimModel() {
m_test.SetDigital(true);
m_autonomous.SetDigital(true);
m_matchTime.SetValue(-1.0);
m_allianceStationId.SetValue(HAL_AllianceStationID_kRed1);
}
void FMSSimModel::UpdateHAL() {
HALSIM_SetDriverStationFmsAttached(m_fmsAttached.GetValue());
HALSIM_SetDriverStationAllianceStationId(
static_cast<HAL_AllianceStationID>(m_allianceStationId.GetValue()));
HALSIM_SetDriverStationEStop(m_estop.GetValue());
HALSIM_SetDriverStationEnabled(m_enabled.GetValue());
HALSIM_SetDriverStationTest(m_test.GetValue());
HALSIM_SetDriverStationAutonomous(m_autonomous.GetValue());
HALSIM_SetDriverStationMatchTime(m_matchTime.GetValue());
HALSIM_SetGameSpecificMessage(m_gameMessage.data(), m_gameMessage.size());
HALSIM_SetDriverStationDsAttached(m_dsAttached.GetValue());
}
void FMSSimModel::Update() {
@@ -1176,6 +1202,11 @@ void FMSSimModel::Update() {
m_startMatchTime = -1.0;
}
m_matchTime.SetValue(matchTime);
HAL_MatchInfo info;
HALSIM_GetMatchInfo(&info);
m_gameMessage.assign(info.gameSpecificMessage,
info.gameSpecificMessage + info.gameSpecificMessageSize);
}
bool FMSSimModel::IsReadOnly() {
@@ -1387,7 +1418,6 @@ void DriverStationGui::GlobalInit() {
gFMSModel = std::make_unique<FMSSimModel>();
wpi::gui::AddEarlyExecute(DriverStationExecute);
wpi::gui::AddEarlyExecute([] { gFMSModel->Update(); });
storageRoot.SetCustomApply([&storageRoot] {
gpDisableDS = &storageRoot.GetBool("disable", false);
@@ -1433,8 +1463,13 @@ void DriverStationGui::GlobalInit() {
win->SetDefaultSize(300, 560);
}
}
if (auto win =
dsManager->AddWindow("FMS", [] { DisplayFMS(gFMSModel.get()); })) {
if (auto win = dsManager->AddWindow("FMS", [] {
if (HALSIM_GetDriverStationDsAttached()) {
DisplayFMSReadOnly(gFMSModel.get());
} else {
DisplayFMS(gFMSModel.get(), false);
}
})) {
win->DisableRenamePopup();
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(5, 540);

6
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
View File

@@ -104,15 +104,19 @@ TEST(DriverStationTest, FmsAttached) {
TEST(DriverStationTest, DsAttached) {
HAL_Initialize(500, 0);
DriverStationSim::ResetData();
DriverStation::RefreshData();
EXPECT_FALSE(DriverStationSim::GetDsAttached());
EXPECT_FALSE(DriverStation::IsDSAttached());
DriverStationSim::NotifyNewData();
EXPECT_TRUE(DriverStationSim::GetDsAttached());
EXPECT_TRUE(DriverStation::IsDSAttached());
BooleanCallback callback;
auto cb = DriverStationSim::RegisterDsAttachedCallback(callback.GetCallback(),
false);
DriverStationSim::SetDsAttached(false);
DriverStationSim::NotifyNewData();
DriverStation::RefreshData();
EXPECT_FALSE(DriverStationSim::GetDsAttached());
EXPECT_FALSE(DriverStation::IsDSAttached());
EXPECT_TRUE(callback.WasTriggered());

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java
View File

@@ -108,14 +108,18 @@ class DriverStationSimTest {
void testDsAttached() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
DriverStation.refreshData();
assertFalse(DriverStationSim.getDsAttached());
assertFalse(DriverStation.isDSAttached());
DriverStationSim.notifyNewData();
assertTrue(DriverStationSim.getDsAttached());
assertTrue(DriverStation.isDSAttached());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = DriverStationSim.registerDsAttachedCallback(callback, false)) {
DriverStationSim.setDsAttached(false);
DriverStationSim.notifyNewData();
DriverStation.refreshData();
assertFalse(DriverStationSim.getDsAttached());
assertFalse(DriverStation.isDSAttached());
assertTrue(callback.wasTriggered());