Add AddressableLED simulation GUI support

simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp

@@ -0,0 +1,122 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "AddressableLEDGui.h"
+
+#include <cstdio>
+#include <cstring>
+#include <vector>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <mockdata/AddressableLEDData.h>
+#include <wpi/SmallVector.h>
+#include <wpi/StringRef.h>
+
+#include "ExtraGuiWidgets.h"
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static constexpr int kDefaultColumns = 10;
+static std::vector<int> numColumns;
+
+// read/write columns setting to ini file
+static void* AddressableLEDReadOpen(ImGuiContext* ctx,
+                                    ImGuiSettingsHandler* handler,
+                                    const char* name) {
+  int num;
+  if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
+  if (num < 0) return nullptr;
+  if (num >= static_cast<int>(numColumns.size()))
+    numColumns.resize(num + 1, kDefaultColumns);
+  return &numColumns[num];
+}
+
+static void AddressableLEDReadLine(ImGuiContext* ctx,
+                                   ImGuiSettingsHandler* handler, void* entry,
+                                   const char* lineStr) {
+  int* cols = static_cast<int*>(entry);
+  // format: columns=#
+  wpi::StringRef line{lineStr};
+  auto [name, value] = line.split('=');
+  name = name.trim();
+  value = value.trim();
+  if (name == "columns") {
+    int num;
+    if (value.getAsInteger(10, num)) return;
+    *cols = num;
+  }
+}
+
+static void AddressableLEDWriteAll(ImGuiContext* ctx,
+                                   ImGuiSettingsHandler* handler,
+                                   ImGuiTextBuffer* out_buf) {
+  for (size_t i = 0; i < numColumns.size(); ++i) {
+    out_buf->appendf("[AddressableLED][%d]\ncolumns=%d\n\n",
+                     static_cast<int>(i), numColumns[i]);
+  }
+}
+
+static void DisplayAddressableLEDs() {
+  bool hasAny = false;
+  static const int numLED = HAL_GetNumAddressableLEDs();
+  if (numLED > static_cast<int>(numColumns.size()))
+    numColumns.resize(numLED, kDefaultColumns);
+
+  for (int i = 0; i < numLED; ++i) {
+    if (!HALSIM_GetAddressableLEDInitialized(i)) continue;
+    hasAny = true;
+
+    if (numLED > 1) ImGui::Text("LEDs[%d]", i);
+
+    static HAL_AddressableLEDData data[HAL_kAddressableLEDMaxLength];
+    int length = HALSIM_GetAddressableLEDData(i, data);
+    bool running = HALSIM_GetAddressableLEDRunning(i);
+
+    ImGui::PushItemWidth(ImGui::GetFontSize() * 6);
+    ImGui::LabelText("Length", "%d", length);
+    ImGui::LabelText("Running", "%s", running ? "Yes" : "No");
+    ImGui::InputInt("Columns", &numColumns[i]);
+    if (numColumns[i] < 1) numColumns[i] = 1;
+    ImGui::PopItemWidth();
+
+    // show as LED indicators
+    static int values[HAL_kAddressableLEDMaxLength];
+    static ImU32 colors[HAL_kAddressableLEDMaxLength];
+
+    if (!running) {
+      colors[0] = IM_COL32(128, 128, 128, 255);
+      for (int j = 0; j < length; ++j) values[j] = -1;
+    } else {
+      for (int j = 0; j < length; ++j) {
+        values[j] = j + 1;
+        colors[j] = IM_COL32(data[j].r, data[j].g, data[j].b, 255);
+      }
+    }
+
+    DrawLEDs(values, length, numColumns[i], colors);
+  }
+  if (!hasAny) ImGui::Text("No addressable LEDs");
+}
+
+void AddressableLEDGui::Initialize() {
+  // hook ini handler to save columns settings
+  ImGuiSettingsHandler iniHandler;
+  iniHandler.TypeName = "AddressableLED";
+  iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+  iniHandler.ReadOpenFn = AddressableLEDReadOpen;
+  iniHandler.ReadLineFn = AddressableLEDReadLine;
+  iniHandler.WriteAllFn = AddressableLEDWriteAll;
+  ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+  HALSimGui::AddWindow("Addressable LEDs", DisplayAddressableLEDs,
+                       ImGuiWindowFlags_AlwaysAutoResize);
+  HALSimGui::SetWindowVisibility("Addressable LEDs", HALSimGui::kHide);
+  HALSimGui::SetDefaultWindowPos("Addressable LEDs", 290, 100);
+}

simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.h

@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class AddressableLEDGui {
+ public:
+  static void Initialize();
+};
+
+}  // namespace halsimgui

simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp

@@ -9,9 +9,11 @@
 
 #include <cstdio>
 #include <cstring>
+#include <memory>
 
 #include <hal/Ports.h>
 #include <imgui.h>
+#include <mockdata/AddressableLEDData.h>
 #include <mockdata/PWMData.h>
 
 #include "HALSimGui.h"
@@ -20,6 +22,19 @@ using namespace halsimgui;
 
 static void DisplayPWMs() {
   bool hasOutputs = false;
+  static const int numPWM = HAL_GetNumPWMChannels();
+  static const int numLED = HAL_GetNumAddressableLEDs();
+  static auto ledMap = std::make_unique<int[]>(numPWM);
+
+  std::memset(ledMap.get(), 0, numPWM * sizeof(ledMap[0]));
+
+  for (int i = 0; i < numLED; ++i) {
+    if (HALSIM_GetAddressableLEDInitialized(i)) {
+      int channel = HALSIM_GetAddressableLEDOutputPort(i);
+      if (channel >= 0 && channel < numPWM) ledMap[channel] = i + 1;
+    }
+  }
+
   // struct History {
   //  History() { std::memset(data, 0, 90 * sizeof(float)); }
   //  History(const History&) = delete;
@@ -30,7 +45,6 @@ static void DisplayPWMs() {
   //};
   // static std::vector<std::unique_ptr<History>> history;
   bool first = true;
-  static const int numPWM = HAL_GetNumPWMChannels();
   for (int i = 0; i < numPWM; ++i) {
     if (HALSIM_GetPWMInitialized(i)) {
       hasOutputs = true;
@@ -42,8 +56,12 @@ static void DisplayPWMs() {
 
       char name[32];
       std::snprintf(name, sizeof(name), "PWM[%d]", i);
-      float val = HALSimGui::AreOutputsDisabled() ? 0 : HALSIM_GetPWMSpeed(i);
-      ImGui::Value(name, val, "%0.3f");
+      if (ledMap[i] > 0) {
+        ImGui::Text("%s: LED[%d]", name, ledMap[i] - 1);
+      } else {
+        float val = HALSimGui::AreOutputsDisabled() ? 0 : HALSIM_GetPWMSpeed(i);
+        ImGui::Value(name, val, "%0.3f");
+      }
 
       // lazily build history storage
       // if (static_cast<unsigned int>(i) > history.size())

simulation/halsim_gui/src/main/native/cpp/main.cpp

@@ -9,6 +9,7 @@
 #include <wpi/raw_ostream.h>
 
 #include "AccelerometerGui.h"
+#include "AddressableLEDGui.h"
 #include "AnalogGyroGui.h"
 #include "AnalogInputGui.h"
 #include "AnalogOutGui.h"
@@ -33,6 +34,7 @@ __declspec(dllexport)
 #endif
     int HALSIM_InitExtension(void) {
   HALSimGui::Add(AccelerometerGui::Initialize);
+  HALSimGui::Add(AddressableLEDGui::Initialize);
   HALSimGui::Add(AnalogGyroGui::Initialize);
   HALSimGui::Add(AnalogInputGui::Initialize);
   HALSimGui::Add(AnalogOutGui::Initialize);