mirror of
https://github.com/wpilibsuite/allwpilib
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2b4894038e
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.
60 lines
2.2 KiB
C++
60 lines
2.2 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 "CompressorGui.h"
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#include <cstdio>
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#include <hal/Ports.h>
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#include <hal/Value.h>
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#include <imgui.h>
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#include <mockdata/PCMData.h>
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#include "SimDeviceGui.h"
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using namespace halsimgui;
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static void DisplayCompressors() {
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static int numPcm = HAL_GetNumPCMModules();
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for (int i = 0; i < numPcm; ++i) {
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if (!HALSIM_GetPCMCompressorInitialized(i)) continue;
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char name[32];
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std::snprintf(name, sizeof(name), "Compressor[%d]", i);
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if (SimDeviceGui::StartDevice(name)) {
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HAL_Value value;
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// enabled
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value = HAL_MakeBoolean(HALSIM_GetPCMCompressorOn(i));
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if (SimDeviceGui::DisplayValue("Running", false, &value))
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HALSIM_SetPCMCompressorOn(i, value.data.v_boolean);
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// closed loop
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value = HAL_MakeEnum(HALSIM_GetPCMClosedLoopEnabled(i) ? 1 : 0);
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static const char* enabledOptions[] = {"disabled", "enabled"};
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if (SimDeviceGui::DisplayValue("Closed Loop", true, &value,
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enabledOptions, 2))
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HALSIM_SetPCMClosedLoopEnabled(i, value.data.v_enum);
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// pressure switch
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value = HAL_MakeEnum(HALSIM_GetPCMPressureSwitch(i) ? 1 : 0);
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static const char* switchOptions[] = {"full", "low"};
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if (SimDeviceGui::DisplayValue("Pressure", false, &value, switchOptions,
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2))
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HALSIM_SetPCMPressureSwitch(i, value.data.v_enum);
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// compressor current
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value = HAL_MakeDouble(HALSIM_GetPCMCompressorCurrent(i));
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if (SimDeviceGui::DisplayValue("Current (A)", false, &value))
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HALSIM_SetPCMCompressorCurrent(i, value.data.v_double);
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SimDeviceGui::FinishDevice();
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}
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}
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}
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void CompressorGui::Initialize() { SimDeviceGui::Add(DisplayCompressors); }
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