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

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This commit is contained in:
Wispy
2024-07-15 19:28:05 -05:00
committed by GitHub
parent cd6b70af0e
commit 7d64d4e24c
7 changed files with 375 additions and 68 deletions
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65
simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
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@@ -4,7 +4,7 @@
#include "PCMSimGui.h"
#include <glass/hardware/PCM.h>
#include <glass/hardware/Pneumatic.h>
#include <glass/other/DeviceTree.h>
#include <cstdio>
@@ -25,7 +25,8 @@ namespace {
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMCompressorOn, "Compressor On");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMClosedLoopEnabled, "Closed Loop");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(CTREPCMPressureSwitch, "Pressure Switch");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(CTREPCMCompressorCurrent, "Comp Current");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(CTREPCMCompressorCurrent,
"Compressor Current");
HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(CTREPCMSolenoidOutput, "Solenoid");
class CompressorSimModel : public glass::CompressorModel {
@@ -90,7 +91,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
CTREPCMSolenoidOutputSource m_output;
};
class PCMSimModel : public glass::PCMModel {
class PCMSimModel : public glass::PneumaticControlModel {
public:
explicit PCMSimModel(int32_t index)
: m_index{index},
@@ -107,6 +108,8 @@ class PCMSimModel : public glass::PCMModel {
wpi::function_ref<void(glass::SolenoidModel& model, int index)> func)
override;
std::string_view GetName() override { return "PCM"; }
int GetNumSolenoids() const { return m_solenoidInitCount; }
private:
@@ -116,7 +119,7 @@ class PCMSimModel : public glass::PCMModel {
int m_solenoidInitCount = 0;
};
class PCMsSimModel : public glass::PCMsModel {
class PCMsSimModel : public glass::PneumaticControlsModel {
public:
PCMsSimModel() : m_models(HAL_GetNumCTREPCMModules()) {}
@@ -124,8 +127,9 @@ class PCMsSimModel : public glass::PCMsModel {
bool Exists() override { return true; }
void ForEachPCM(
wpi::function_ref<void(glass::PCMModel& model, int index)> func) override;
void ForEachPneumaticControl(
wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
func) override;
private:
std::vector<std::unique_ptr<PCMSimModel>> m_models;
@@ -176,8 +180,9 @@ void PCMsSimModel::Update() {
}
}
void PCMsSimModel::ForEachPCM(
wpi::function_ref<void(glass::PCMModel& model, int index)> func) {
void PCMsSimModel::ForEachPneumaticControl(
wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
func) {
int32_t numCTREPCMs = m_models.size();
for (int32_t i = 0; i < numCTREPCMs; ++i) {
if (auto model = m_models[i].get()) {
@@ -186,7 +191,7 @@ void PCMsSimModel::ForEachPCM(
}
}
static bool PCMsAnyInitialized() {
bool PCMSimGui::PCMsAnyInitialized() {
static const int32_t num = HAL_GetNumCTREPCMModules();
for (int32_t i = 0; i < num; ++i) {
if (HALSIM_GetCTREPCMInitialized(i)) {
@@ -196,31 +201,25 @@ static bool PCMsAnyInitialized() {
return false;
}
void PCMSimGui::Initialize() {
HALSimGui::halProvider->RegisterModel("CTREPCMs", PCMsAnyInitialized, [] {
return std::make_unique<PCMsSimModel>();
});
HALSimGui::halProvider->RegisterView(
"Solenoids", "CTREPCMs",
[](glass::Model* model) {
bool any = false;
static_cast<PCMsSimModel*>(model)->ForEachPCM(
[&](glass::PCMModel& CTREPCM, int) {
if (static_cast<PCMSimModel*>(&CTREPCM)->GetNumSolenoids() > 0) {
any = true;
}
});
return any;
},
[](glass::Window* win, glass::Model* model) {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(290, 20);
return glass::MakeFunctionView([=] {
glass::DisplayPCMsSolenoids(
static_cast<PCMsSimModel*>(model),
HALSimGui::halProvider->AreOutputsEnabled());
});
bool PCMSimGui::PCMsAnySolenoids(glass::PneumaticControlsModel* model) {
bool any = false;
static_cast<PCMsSimModel*>(model)->ForEachPneumaticControl(
[&](glass::PneumaticControlModel& CTREPCM, int) {
if (static_cast<PCMSimModel*>(&CTREPCM)->GetNumSolenoids() > 0) {
any = true;
}
});
return any;
}
std::unique_ptr<glass::PneumaticControlsModel> PCMSimGui::GetPCMsModel() {
return std::make_unique<PCMsSimModel>();
}
void PCMSimGui::Initialize() {
HALSimGui::halProvider->RegisterModel(
"CTREPCMs", PCMSimGui::PCMsAnyInitialized,
[] { return std::make_unique<PCMsSimModel>(); });
SimDeviceGui::GetDeviceTree().Add(
HALSimGui::halProvider->GetModel("CTREPCMs"), [](glass::Model* model) {