allwpilib/glass/src/lib/native/cpp/hardware/Pneumatic.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "glass/hardware/Pneumatic.h"

#include <cstdio>
#include <cstring>
#include <string>

#include <imgui.h>
#include <wpi/SmallVector.h>
#include <wpi/StringExtras.h>

#include "glass/Context.h"
#include "glass/DataSource.h"
#include "glass/Storage.h"
#include "glass/other/DeviceTree.h"
#include "glass/support/ExtraGuiWidgets.h"
#include "glass/support/NameSetting.h"

using namespace glass;

bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
                                             int index, bool outputsEnabled) {
  wpi::SmallVector<int, 16> channels;
  model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
    if (auto data = solenoid.GetOutputData()) {
      if (j >= static_cast<int>(channels.size())) {
        channels.resize(j + 1);
      }
      channels[j] = (outputsEnabled && data->GetValue()) ? 1 : -1;
    }
  });

  if (channels.empty()) {
    return false;
  }

  // show nonexistent channels as empty
  for (auto&& ch : channels) {
    if (ch == 0) {
      ch = -2;
    }
  }

  // build header label
  std::string& name = GetStorage().GetString("name");
  char label[128];
  if (!name.empty()) {
    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
                           index);
  } else {
    wpi::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
                           model->GetName(), index);
  }

  // header
  bool open = CollapsingHeader(label);

  PopupEditName("header", &name);

  ImGui::SetItemAllowOverlap();
  ImGui::SameLine();

  // show channels as LED indicators
  static const ImU32 colors[] = {IM_COL32(255, 255, 102, 255),
                                 IM_COL32(128, 128, 128, 255)};
  DrawLEDs(channels.data(), channels.size(), channels.size(), colors);

  if (open) {
    ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
    model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
      if (auto data = solenoid.GetOutputData()) {
        PushID(j);
        char label[64];
        NameSetting name{data->GetName()};
        name.GetLabel(label, sizeof(label), "Solenoid", j);
        data->LabelText(label, "%s", channels[j] == 1 ? "On" : "Off");
        name.PopupEditName(j);
        PopID();
      }
    });
    ImGui::PopItemWidth();
  }

  return true;
}

void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
                                              bool outputsEnabled,
                                              std::string_view noneMsg) {
  bool hasAny = false;
  model->ForEachPneumaticControl(
      [&](PneumaticControlModel& pneumaticControl, int i) {
        PushID(i);
        if (DisplayPneumaticControlSolenoids(&pneumaticControl, i,
                                             outputsEnabled)) {
          hasAny = true;
        }
        PopID();
      });
  if (!hasAny && !noneMsg.empty()) {
    ImGui::TextUnformatted(noneMsg.data(), noneMsg.data() + noneMsg.size());
  }
}

void glass::DisplayCompressorDevice(CompressorModel* model, int index,
                                    bool outputsEnabled) {
  if (!model || !model->Exists()) {
    return;
  }
  char name[32];
  wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);

  if (BeginDevice(name)) {
    // output enabled
    if (auto runningData = model->GetRunningData()) {
      bool value = outputsEnabled && runningData->GetValue();
      if (DeviceBoolean("Running", false, &value, runningData)) {
        model->SetRunning(value);
      }
    }

    // closed loop enabled
    if (auto enabledData = model->GetEnabledData()) {
      int value = enabledData->GetValue() ? 1 : 0;
      static const char* enabledOptions[] = {"disabled", "enabled"};
      if (DeviceEnum("Closed Loop", true, &value, enabledOptions, 2,
                     enabledData)) {
        model->SetEnabled(value != 0);
      }
    }

    // pressure switch
    if (auto pressureSwitchData = model->GetPressureSwitchData()) {
      int value = pressureSwitchData->GetValue() ? 1 : 0;
      static const char* switchOptions[] = {"full", "low"};
      if (DeviceEnum("Pressure", false, &value, switchOptions, 2,
                     pressureSwitchData)) {
        model->SetPressureSwitch(value != 0);
      }
    }

    // compressor current
    if (auto currentData = model->GetCurrentData()) {
      double value = currentData->GetValue();
      if (DeviceDouble("Current (A)", false, &value, currentData)) {
        model->SetCurrent(value);
      }
    }

    EndDevice();
  }
}

void glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
                                     bool outputsEnabled) {
  model->ForEachPneumaticControl(
      [&](PneumaticControlModel& pneumaticControl, int i) {
        DisplayCompressorDevice(pneumaticControl.GetCompressor(), i,
                                outputsEnabled);
      });
}