[sim] Add GUI support for the REV PH (#6704)

glass/src/lib/native/cpp/hardware/Pneumatic.cpp

@@ -0,0 +1,163 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "glass/hardware/Pneumatic.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include <imgui.h>
+#include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+#include "glass/Storage.h"
+#include "glass/other/DeviceTree.h"
+#include "glass/support/ExtraGuiWidgets.h"
+#include "glass/support/NameSetting.h"
+
+using namespace glass;
+
+bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
+                                             int index, bool outputsEnabled) {
+  wpi::SmallVector<int, 16> channels;
+  model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
+    if (auto data = solenoid.GetOutputData()) {
+      if (j >= static_cast<int>(channels.size())) {
+        channels.resize(j + 1);
+      }
+      channels[j] = (outputsEnabled && data->GetValue()) ? 1 : -1;
+    }
+  });
+
+  if (channels.empty()) {
+    return false;
+  }
+
+  // show nonexistent channels as empty
+  for (auto&& ch : channels) {
+    if (ch == 0) {
+      ch = -2;
+    }
+  }
+
+  // build header label
+  std::string& name = GetStorage().GetString("name");
+  char label[128];
+  if (!name.empty()) {
+    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
+                           index);
+  } else {
+    wpi::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
+                           model->GetName(), index);
+  }
+
+  // header
+  bool open = CollapsingHeader(label);
+
+  PopupEditName("header", &name);
+
+  ImGui::SetItemAllowOverlap();
+  ImGui::SameLine();
+
+  // show channels as LED indicators
+  static const ImU32 colors[] = {IM_COL32(255, 255, 102, 255),
+                                 IM_COL32(128, 128, 128, 255)};
+  DrawLEDs(channels.data(), channels.size(), channels.size(), colors);
+
+  if (open) {
+    ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
+    model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
+      if (auto data = solenoid.GetOutputData()) {
+        PushID(j);
+        char label[64];
+        NameSetting name{data->GetName()};
+        name.GetLabel(label, sizeof(label), "Solenoid", j);
+        data->LabelText(label, "%s", channels[j] == 1 ? "On" : "Off");
+        name.PopupEditName(j);
+        PopID();
+      }
+    });
+    ImGui::PopItemWidth();
+  }
+
+  return true;
+}
+
+void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
+                                              bool outputsEnabled,
+                                              std::string_view noneMsg) {
+  bool hasAny = false;
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        PushID(i);
+        if (DisplayPneumaticControlSolenoids(&pneumaticControl, i,
+                                             outputsEnabled)) {
+          hasAny = true;
+        }
+        PopID();
+      });
+  if (!hasAny && !noneMsg.empty()) {
+    ImGui::TextUnformatted(noneMsg.data(), noneMsg.data() + noneMsg.size());
+  }
+}
+
+void glass::DisplayCompressorDevice(CompressorModel* model, int index,
+                                    bool outputsEnabled) {
+  if (!model || !model->Exists()) {
+    return;
+  }
+  char name[32];
+  wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
+
+  if (BeginDevice(name)) {
+    // output enabled
+    if (auto runningData = model->GetRunningData()) {
+      bool value = outputsEnabled && runningData->GetValue();
+      if (DeviceBoolean("Running", false, &value, runningData)) {
+        model->SetRunning(value);
+      }
+    }
+
+    // closed loop enabled
+    if (auto enabledData = model->GetEnabledData()) {
+      int value = enabledData->GetValue() ? 1 : 0;
+      static const char* enabledOptions[] = {"disabled", "enabled"};
+      if (DeviceEnum("Closed Loop", true, &value, enabledOptions, 2,
+                     enabledData)) {
+        model->SetEnabled(value != 0);
+      }
+    }
+
+    // pressure switch
+    if (auto pressureSwitchData = model->GetPressureSwitchData()) {
+      int value = pressureSwitchData->GetValue() ? 1 : 0;
+      static const char* switchOptions[] = {"full", "low"};
+      if (DeviceEnum("Pressure", false, &value, switchOptions, 2,
+                     pressureSwitchData)) {
+        model->SetPressureSwitch(value != 0);
+      }
+    }
+
+    // compressor current
+    if (auto currentData = model->GetCurrentData()) {
+      double value = currentData->GetValue();
+      if (DeviceDouble("Current (A)", false, &value, currentData)) {
+        model->SetCurrent(value);
+      }
+    }
+
+    EndDevice();
+  }
+}
+
+void glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
+                                     bool outputsEnabled) {
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        DisplayCompressorDevice(pneumaticControl.GetCompressor(), i,
+                                outputsEnabled);
+      });
+}