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[sim] Update sim match time to match real robot (#4024)

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The real robot has match time set to -1.0 until it's enabled, and then
counts down. Disabling the robot sets the time to -1.0.

The sim GUI has been updated to add preset buttons for auto and teleop
match times. The enable match timing checkbox has been removed as it's
no longer required.

The DS socket plugin has also been fixed to properly initialize
matchTime to -1.0 and reset it to -1.0 on disable.
This commit is contained in:
Peter Johnson
2022-02-12 22:31:10 -08:00
committed by GitHub
parent 165d2837cf
commit e9050afd67
7 changed files with 35 additions and 34 deletions
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39
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -247,8 +247,6 @@ class FMSSimModel : public glass::FMSModel {
}
void SetMatchTime(double val) override {
HALSIM_SetDriverStationMatchTime(val);
int32_t status = 0;
m_startMatchTime = HAL_GetFPGATime(&status) * 1.0e-6 - val;
}
void SetEStop(bool val) override { HALSIM_SetDriverStationEStop(val); }
void SetEnabled(bool val) override { HALSIM_SetDriverStationEnabled(val); }
@@ -266,8 +264,6 @@ class FMSSimModel : public glass::FMSModel {
bool IsReadOnly() override;
bool m_matchTimeEnabled = true;
private:
glass::DataSource m_fmsAttached{"FMS:FMSAttached"};
glass::DataSource m_dsAttached{"FMS:DSAttached"};
@@ -277,8 +273,7 @@ class FMSSimModel : public glass::FMSModel {
glass::DataSource m_enabled{"FMS:RobotEnabled"};
glass::DataSource m_test{"FMS:TestMode"};
glass::DataSource m_autonomous{"FMS:AutonomousMode"};
double m_startMatchTime = 0.0;
double m_prevTime = 0.0;
double m_startMatchTime = -1.0;
};
} // namespace
@@ -1138,6 +1133,7 @@ FMSSimModel::FMSSimModel() {
m_enabled.SetDigital(true);
m_test.SetDigital(true);
m_autonomous.SetDigital(true);
m_matchTime.SetValue(-1.0);
}
void FMSSimModel::Update() {
@@ -1151,25 +1147,23 @@ void FMSSimModel::Update() {
m_autonomous.SetValue(HALSIM_GetDriverStationAutonomous());
double matchTime = HALSIM_GetDriverStationMatchTime();
if (m_matchTimeEnabled && !IsDSDisabled()) {
if (!IsDSDisabled() && enabled) {
int32_t status = 0;
double curTime = HAL_GetFPGATime(&status) * 1.0e-6;
if (m_startMatchTime == 0.0) {
m_startMatchTime = curTime;
if (m_startMatchTime == -1.0) {
m_startMatchTime = matchTime + curTime;
}
if (enabled) {
matchTime = curTime - m_startMatchTime;
HALSIM_SetDriverStationMatchTime(matchTime);
} else {
if (m_prevTime == 0.0) {
m_prevTime = curTime;
}
m_startMatchTime += (curTime - m_prevTime);
matchTime = m_startMatchTime - curTime;
if (matchTime < 0) {
matchTime = -1.0;
}
m_prevTime = curTime;
HALSIM_SetDriverStationMatchTime(matchTime);
} else {
m_startMatchTime = 0.0;
m_prevTime = 0.0;
if (m_startMatchTime != -1.0) {
matchTime = -1.0;
HALSIM_SetDriverStationMatchTime(matchTime);
}
m_startMatchTime = -1.0;
}
m_matchTime.SetValue(matchTime);
}
@@ -1424,9 +1418,8 @@ void DriverStationGui::GlobalInit() {
win->SetDefaultSize(300, 560);
}
}
if (auto win = dsManager->AddWindow("FMS", [] {
DisplayFMS(gFMSModel.get(), &gFMSModel->m_matchTimeEnabled);
})) {
if (auto win =
dsManager->AddWindow("FMS", [] { DisplayFMS(gFMSModel.get()); })) {
win->DisableRenamePopup();
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(5, 540);