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[sim] GUI: Show DS info even when GUI DS disabled

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This commit is contained in:
Peter Johnson
2020-08-23 16:47:46 -07:00
parent 47cc71ea01
commit 70ba92f917
1 changed files with 54 additions and 18 deletions
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72
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -56,8 +56,10 @@ struct RobotJoystick {
HAL_JoystickButtons buttons;
HAL_JoystickPOVs povs;
void Clear();
void Update();
void SetHAL(int i);
void GetHAL(int i);
bool IsButtonPressed(int i) { return (buttons.buttons & (1u << i)) != 0; }
};
@@ -206,12 +208,16 @@ static int HatToAngle(unsigned char hat) {
}
}
void RobotJoystick::Update() {
void RobotJoystick::Clear() {
std::memset(&desc, 0, sizeof(desc));
desc.type = -1;
std::memset(&axes, 0, sizeof(axes));
std::memset(&buttons, 0, sizeof(buttons));
std::memset(&povs, 0, sizeof(povs));
}
void RobotJoystick::Update() {
Clear();
if (!sys || !sys->present) return;
@@ -279,16 +285,19 @@ void RobotJoystick::SetHAL(int i) {
HALSIM_SetJoystickPOVs(i, &povs);
}
void RobotJoystick::GetHAL(int i) {
HALSIM_GetJoystickDescriptor(i, &desc);
HALSIM_GetJoystickAxes(i, &axes);
HALSIM_GetJoystickButtons(i, &buttons);
HALSIM_GetJoystickPOVs(i, &povs);
}
static void DriverStationExecute() {
static bool prevDisableDS = false;
if (gDisableDS && !prevDisableDS) {
HALSimGui::SetWindowVisibility("FMS", HALSimGui::kDisabled);
HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kDisabled);
HALSimGui::SetWindowVisibility("Joysticks", HALSimGui::kDisabled);
} else if (!gDisableDS && prevDisableDS) {
HALSimGui::SetWindowVisibility("FMS", HALSimGui::kShow);
HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kShow);
HALSimGui::SetWindowVisibility("Joysticks", HALSimGui::kShow);
}
prevDisableDS = gDisableDS;
if (gDisableDS) return;
@@ -344,22 +353,44 @@ static void DriverStationExecute() {
}
static void DisplayFMS() {
bool fmsAttached = HALSIM_GetDriverStationFmsAttached();
bool dsAttached = HALSIM_GetDriverStationDsAttached();
static const char* stations[] = {"Red 1", "Red 2", "Red 3",
"Blue 1", "Blue 2", "Blue 3"};
int allianceStationId = HALSIM_GetDriverStationAllianceStationId();
double matchTime = HALSIM_GetDriverStationMatchTime();
HAL_MatchInfo matchInfo;
HALSIM_GetMatchInfo(&matchInfo);
if (gDisableDS) {
if (!HALSIM_GetDriverStationEnabled())
ImGui::Text("Robot State: Disabled");
else if (HALSIM_GetDriverStationTest())
ImGui::Text("Robot State: Test");
else if (HALSIM_GetDriverStationAutonomous())
ImGui::Text("Robot State: Autonomous");
else
ImGui::Text("Robot State: Teleoperated");
ImGui::Text("FMS Attached: %s", fmsAttached ? "Yes" : "No");
ImGui::Text("DS Attached: %s", dsAttached ? "Yes" : "No");
ImGui::Text("Alliance Station: %s", stations[allianceStationId]);
ImGui::Text("Match Time: %.1f", matchTime);
ImGui::Text("Game Specific: %s", matchInfo.gameSpecificMessage);
return;
}
double curTime = glfwGetTime();
// FMS Attached
bool fmsAttached = HALSIM_GetDriverStationFmsAttached();
if (ImGui::Checkbox("FMS Attached", &fmsAttached))
HALSIM_SetDriverStationFmsAttached(fmsAttached);
// DS Attached
bool dsAttached = HALSIM_GetDriverStationDsAttached();
if (ImGui::Checkbox("DS Attached", &dsAttached))
HALSIM_SetDriverStationDsAttached(dsAttached);
// Alliance Station
static const char* stations[] = {"Red 1", "Red 2", "Red 3",
"Blue 1", "Blue 2", "Blue 3"};
int allianceStationId = HALSIM_GetDriverStationAllianceStationId();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
if (ImGui::Combo("Alliance Station", &allianceStationId, stations, 6))
HALSIM_SetDriverStationAllianceStationId(
@@ -370,7 +401,6 @@ static void DisplayFMS() {
ImGui::Checkbox("Match Time Enabled", &matchTimeEnabled);
static double startMatchTime = 0.0;
double matchTime = HALSIM_GetDriverStationMatchTime();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
if (ImGui::InputDouble("Match Time", &matchTime, 0, 0, "%.1f",
ImGuiInputTextFlags_EnterReturnsTrue)) {
@@ -388,7 +418,6 @@ static void DisplayFMS() {
}
// Game Specific Message
static HAL_MatchInfo matchInfo;
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
if (ImGui::InputText("Game Specific",
reinterpret_cast<char*>(matchInfo.gameSpecificMessage),
@@ -436,7 +465,7 @@ static void DisplayJoysticks() {
auto& joy = gRobotJoysticks[i];
char label[128];
joy.name.GetName(label, sizeof(label), "Joystick", i);
if (joy.sys) {
if (!gDisableDS && joy.sys) {
ImGui::Selectable(label, false);
if (ImGui::BeginDragDropSource()) {
ImGui::SetDragDropPayload("Joystick", &joy.sys, sizeof(joy.sys));
@@ -447,7 +476,7 @@ static void DisplayJoysticks() {
} else {
ImGui::Selectable(label, false, ImGuiSelectableFlags_Disabled);
}
if (ImGui::BeginDragDropTarget()) {
if (!gDisableDS && ImGui::BeginDragDropTarget()) {
if (const ImGuiPayload* payload =
ImGui::AcceptDragDropPayload("Joystick")) {
IM_ASSERT(payload->DataSize == sizeof(SystemJoystick*));
@@ -471,13 +500,20 @@ static void DisplayJoysticks() {
for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
auto& joy = gRobotJoysticks[i];
if (joy.sys && joy.sys->present) {
if (gDisableDS) joy.GetHAL(i);
if ((gDisableDS && joy.desc.type != 0) || (joy.sys && joy.sys->present)) {
// update GUI display
ImGui::PushID(i);
ImGui::Text("%d: %s", static_cast<int>(joy.sys - gSystemJoysticks),
joy.sys->name);
if (gDisableDS) {
ImGui::Text("%s", joy.desc.name);
ImGui::Text("Gamepad: %s", joy.desc.isXbox ? "Yes" : "No");
} else {
ImGui::Text("%d: %s", static_cast<int>(joy.sys - gSystemJoysticks),
joy.sys->name);
if (joy.sys->isGamepad) ImGui::Checkbox("Map gamepad", &joy.useGamepad);
if (joy.sys->isGamepad) ImGui::Checkbox("Map gamepad", &joy.useGamepad);
}
for (int j = 0; j < joy.axes.count; ++j)
ImGui::Text("Axis[%d]: %.3f", j, joy.axes.axes[j]);