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https://github.com/wpilibsuite/allwpilib
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1853f7b6b7
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?
61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "TimingGui.h"
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#include <cstdio>
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#include <cstring>
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#include <vector>
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#include <hal/HALBase.h>
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#include <imgui.h>
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#include <mockdata/MockHooks.h>
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#include <mockdata/NotifierData.h>
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#include "HALSimGui.h"
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using namespace halsimgui;
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static void DisplayTiming() {
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int32_t status = 0;
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uint64_t curTime = HAL_GetFPGATime(&status);
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if (ImGui::Button("Run")) HALSIM_ResumeTiming();
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ImGui::SameLine();
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if (ImGui::Button("Pause")) HALSIM_PauseTiming();
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ImGui::SameLine();
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ImGui::PushButtonRepeat(true);
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if (ImGui::Button("Step")) {
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HALSIM_PauseTiming();
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uint64_t nextTimeout = HALSIM_GetNextNotifierTimeout();
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if (nextTimeout != UINT64_MAX) HALSIM_StepTiming(nextTimeout - curTime);
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}
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ImGui::PopButtonRepeat();
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ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
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ImGui::LabelText("FPGA Time", "%.3f", curTime / 1000000.0);
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ImGui::PopItemWidth();
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static std::vector<HALSIM_NotifierInfo> notifiers;
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int32_t num = HALSIM_GetNotifierInfo(notifiers.data(), notifiers.size());
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if (static_cast<uint32_t>(num) > notifiers.size()) {
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notifiers.resize(num);
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HALSIM_GetNotifierInfo(notifiers.data(), notifiers.size());
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}
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if (num > 0) ImGui::Separator();
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ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
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for (int32_t i = 0; i < num; ++i)
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ImGui::LabelText(notifiers[i].name, "%.3f",
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notifiers[i].timeout / 1000000.0);
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ImGui::PopItemWidth();
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}
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void TimingGui::Initialize() {
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HALSimGui::AddWindow("Timing", DisplayTiming,
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ImGuiWindowFlags_AlwaysAutoResize);
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HALSimGui::SetDefaultWindowPos("Timing", 5, 150);
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}
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