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https://github.com/wpilibsuite/allwpilib
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81 lines
2.9 KiB
C++
81 lines
2.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "RoboRioSimGui.hpp"
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#include <memory>
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#include "wpi/glass/hardware/RoboRio.hpp"
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#include "wpi/hal/simulation/RoboRioData.h"
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#include "wpi/halsim/gui/HALDataSource.hpp"
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#include "wpi/halsim/gui/HALSimGui.hpp"
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using namespace halsimgui;
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namespace {
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HALSIMGUI_DATASOURCE_DOUBLE(RoboRioVInVoltage, "Rio Input Voltage");
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HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserVoltage3V3, "Rio 3.3V Voltage");
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HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserCurrent3V3, "Rio 3.3V Current");
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HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive3V3, "Rio 3.3V Active");
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HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults3V3, "Rio 3.3V Faults");
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HALSIMGUI_DATASOURCE_DOUBLE(RoboRioBrownoutVoltage, "Rio Brownout Voltage");
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class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
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public:
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void Update() override {}
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bool Exists() override { return true; }
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glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
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glass::DoubleSource* GetCurrentData() override { return &m_current; }
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glass::BooleanSource* GetActiveData() override { return &m_active; }
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glass::IntegerSource* GetFaultsData() override { return &m_faults; }
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void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage3V3(val); }
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void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent3V3(val); }
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void SetActive(bool val) override { HALSIM_SetRoboRioUserActive3V3(val); }
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void SetFaults(int val) override { HALSIM_SetRoboRioUserFaults3V3(val); }
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private:
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RoboRioUserVoltage3V3Source m_voltage;
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RoboRioUserCurrent3V3Source m_current;
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RoboRioUserActive3V3Source m_active;
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RoboRioUserFaults3V3Source m_faults;
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};
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class RoboRioSimModel : public glass::RoboRioModel {
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public:
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void Update() override {}
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bool Exists() override { return true; }
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glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
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glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
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glass::DoubleSource* GetBrownoutVoltage() override {
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return &m_brownoutVoltage;
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}
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void SetVInVoltage(double val) override { HALSIM_SetRoboRioVInVoltage(val); }
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void SetBrownoutVoltage(double val) override {
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HALSIM_SetRoboRioBrownoutVoltage(val);
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}
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private:
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RoboRioVInVoltageSource m_vInVoltage;
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RoboRioUser3V3RailSimModel m_user3V3Rail;
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RoboRioBrownoutVoltageSource m_brownoutVoltage;
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};
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} // namespace
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void RoboRioSimGui::Initialize() {
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HALSimGui::halProvider->Register(
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"RoboRIO", [] { return true; },
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[] { return std::make_unique<RoboRioSimModel>(); },
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[](glass::Window* win, glass::Model* model) {
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win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
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win->SetDefaultPos(5, 125);
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return glass::MakeFunctionView(
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[=] { DisplayRoboRio(static_cast<RoboRioSimModel*>(model)); });
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});
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}
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