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[sim] Automatically turn off GUI DS when real DS connected

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This commit is contained in:
Peter Johnson
2020-09-02 20:51:43 -07:00
parent 1b18560e90
commit 8f87c56312
4 changed files with 48 additions and 13 deletions
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39
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -7,6 +7,7 @@
#include "DriverStationGui.h"
#include <atomic>
#include <cstring>
#include <memory>
#include <string>
@@ -102,6 +103,11 @@ static RobotJoystick gRobotJoysticks[HAL_kMaxJoysticks];
static std::unique_ptr<JoystickSource> gJoystickSources[HAL_kMaxJoysticks];
static bool gDisableDS = false;
static std::atomic<bool>* gDSSocketConnected = nullptr;
static inline bool IsDSDisabled() {
return gDisableDS || (gDSSocketConnected && *gDSSocketConnected);
}
JoystickSource::JoystickSource(int index) : m_index{index} {
HAL_JoystickAxes halAxes;
@@ -396,13 +402,15 @@ static void DriverStationExecute() {
}
static bool prevDisableDS = false;
if (gDisableDS && !prevDisableDS) {
bool disableDS = IsDSDisabled();
if (disableDS && !prevDisableDS) {
HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kDisabled);
} else if (!gDisableDS && prevDisableDS) {
} else if (!disableDS && prevDisableDS) {
HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kShow);
}
prevDisableDS = gDisableDS;
if (gDisableDS) return;
prevDisableDS = disableDS;
if (disableDS) return;
double curTime = glfwGetTime();
@@ -464,7 +472,7 @@ static void DisplayFMS() {
HAL_MatchInfo matchInfo;
HALSIM_GetMatchInfo(&matchInfo);
if (gDisableDS) {
if (IsDSDisabled()) {
if (!HALSIM_GetDriverStationEnabled())
ImGui::Text("Robot State: Disabled");
else if (HALSIM_GetDriverStationTest())
@@ -559,6 +567,7 @@ static void DisplaySystemJoysticks() {
}
static void DisplayJoysticks() {
bool disableDS = IsDSDisabled();
// imgui doesn't size columns properly with autoresize, so force it
ImGui::Dummy(ImVec2(ImGui::GetFontSize() * 10 * HAL_kMaxJoysticks, 0));
@@ -567,7 +576,7 @@ static void DisplayJoysticks() {
auto& joy = gRobotJoysticks[i];
char label[128];
joy.name.GetLabel(label, sizeof(label), "Joystick", i);
if (!gDisableDS && joy.sys) {
if (!disableDS && joy.sys) {
ImGui::Selectable(label, false);
if (ImGui::BeginDragDropSource()) {
ImGui::SetDragDropPayload("Joystick", &joy.sys, sizeof(joy.sys));
@@ -578,7 +587,7 @@ static void DisplayJoysticks() {
} else {
ImGui::Selectable(label, false, ImGuiSelectableFlags_Disabled);
}
if (!gDisableDS && ImGui::BeginDragDropTarget()) {
if (!disableDS && ImGui::BeginDragDropTarget()) {
if (const ImGuiPayload* payload =
ImGui::AcceptDragDropPayload("Joystick")) {
IM_ASSERT(payload->DataSize == sizeof(SystemJoystick*));
@@ -603,12 +612,12 @@ static void DisplayJoysticks() {
auto& joy = gRobotJoysticks[i];
auto source = gJoystickSources[i].get();
if (gDisableDS) joy.GetHAL(i);
if (disableDS) joy.GetHAL(i);
if ((gDisableDS && joy.desc.type != 0) || (joy.sys && joy.sys->present)) {
if ((disableDS && joy.desc.type != 0) || (joy.sys && joy.sys->present)) {
// update GUI display
ImGui::PushID(i);
if (gDisableDS) {
if (disableDS) {
ImGui::Text("%s", joy.desc.name);
ImGui::Text("Gamepad: %s", joy.desc.isXbox ? "Yes" : "No");
} else {
@@ -662,7 +671,11 @@ static void DisplayJoysticks() {
}
static void DriverStationOptionMenu() {
ImGui::MenuItem("Turn off DS", nullptr, &gDisableDS);
if (gDSSocketConnected && *gDSSocketConnected) {
ImGui::MenuItem("Turn off DS (real DS connected)", nullptr, true, false);
} else {
ImGui::MenuItem("Turn off DS", nullptr, &gDisableDS);
}
}
void DriverStationGui::Initialize() {
@@ -695,3 +708,7 @@ void DriverStationGui::Initialize() {
HALSimGui::SetDefaultWindowPos("System Joysticks", 5, 385);
HALSimGui::SetDefaultWindowPos("Joysticks", 250, 465);
}
void DriverStationGui::SetDSSocketExtension(void* data) {
gDSSocketConnected = static_cast<std::atomic<bool>*>(data);
}