Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
The platform-specific code now only has create, update, and delete texture.
Image reading functions have been moved to common code.
Also add pixel data functions and image data functions in addition to image
file loading.
Drake is a collection of tools for analyzing robot dynamics and building control systems.
See https://drake.mit.edu/ for details.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Also move some things in HAL for consistency.
WAS:
C++:
- C APIs: #include "mockdata/AccelerometerData.h"
- User side class: #include "simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim)
- User side classes: hal.sim.AccelerometerSim
IS:
C++:
- C APIs: #include "hal/simulation/AccelerometerData.h"
- C++ class: #include "frc/simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.simulation.AccelerometerData
- User side class: wpilibj.simulation.AccelerometerSim
The field image and robot image can be loaded or just a wireframe used.
The robot can be moved and rotated with a mouse click + drag.
The robot position is settable in robot code via the Field2d class.
This allows users to right click on just about any name in the GUI (e.g. "PWM[0]") and rename it (e.g. "Left Motor [0]"). The index portion is not editable. The name is saved into imgui.ini so it's persistent.
LED displays connect the LEDs in various ways (column major vs row major,
different starting locations, serpentine connection order), so add
configuration parameters for these options.
This shows the FPGA time and notifier timing, and has buttons to
start/pause/step the simulation.
The GUI also pauses DS new data notifications when paused. This could be
done globally instead by blocking NotifyNewData at the HAL level?
Add user setting for scaling on top of DPI scaling.
Add user setting for visual style (light/dark/normal).
Save window position, size, maximized state, scale, and style to ini file.
This uses Dear Imgui to provide a cross-platform integrated GUI for robot
simulation. The GUI provides fully integrated DS and joystick support so it's
not necessary to run the official DS.
