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https://github.com/wpilibsuite/allwpilib
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ce3bc91946
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
122 lines
4.1 KiB
C++
122 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 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 "EncoderGui.h"
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#include <hal/Ports.h>
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#include <hal/simulation/EncoderData.h>
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#include <hal/simulation/SimDeviceData.h>
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#include <imgui.h>
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#include "HALSimGui.h"
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#include "IniSaver.h"
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#include "IniSaverInfo.h"
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using namespace halsimgui;
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namespace {
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struct EncoderInfo : public NameInfo, public OpenInfo {
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bool ReadIni(wpi::StringRef name, wpi::StringRef value) {
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if (NameInfo::ReadIni(name, value)) return true;
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if (OpenInfo::ReadIni(name, value)) return true;
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return false;
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}
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void WriteIni(ImGuiTextBuffer* out) {
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NameInfo::WriteIni(out);
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OpenInfo::WriteIni(out);
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}
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};
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} // namespace
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static IniSaver<EncoderInfo> gEncoders{"Encoder"}; // indexed by channel A
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static void DisplayEncoders() {
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bool hasAny = false;
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static int numEncoder = HAL_GetNumEncoders();
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ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
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for (int i = 0; i < numEncoder; ++i) {
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if (HALSIM_GetEncoderInitialized(i)) {
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hasAny = true;
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if (auto simDevice = HALSIM_GetEncoderSimDevice(i)) {
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ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
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ImGui::Text("%s", HALSIM_GetSimDeviceName(simDevice));
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ImGui::PopStyleColor();
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} else {
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int chA = HALSIM_GetEncoderDigitalChannelA(i);
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int chB = HALSIM_GetEncoderDigitalChannelB(i);
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// build header name
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auto& info = gEncoders[chA];
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char name[128];
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info.GetName(name, sizeof(name), "Encoder", chA, chB);
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// header
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bool open = ImGui::CollapsingHeader(
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name, gEncoders[chA].IsOpen() ? ImGuiTreeNodeFlags_DefaultOpen : 0);
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info.SetOpen(open);
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// context menu to change name
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info.PopupEditName(chA);
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if (open) {
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ImGui::PushID(i);
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// distance per pulse
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double distancePerPulse = HALSIM_GetEncoderDistancePerPulse(i);
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ImGui::LabelText("Dist/Count", "%.6f", distancePerPulse);
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// count
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int count = HALSIM_GetEncoderCount(i);
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if (ImGui::InputInt("Count", &count))
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HALSIM_SetEncoderCount(i, count);
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ImGui::SameLine();
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if (ImGui::Button("Reset")) HALSIM_SetEncoderCount(i, 0);
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// max period
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double maxPeriod = HALSIM_GetEncoderMaxPeriod(i);
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ImGui::LabelText("Max Period", "%.6f", maxPeriod);
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// period
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double period = HALSIM_GetEncoderPeriod(i);
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if (ImGui::InputDouble("Period", &period, 0, 0, "%.6g"))
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HALSIM_SetEncoderPeriod(i, period);
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// reverse direction
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ImGui::LabelText(
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"Reverse Direction", "%s",
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HALSIM_GetEncoderReverseDirection(i) ? "true" : "false");
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// direction
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static const char* options[] = {"reverse", "forward"};
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int direction = HALSIM_GetEncoderDirection(i) ? 1 : 0;
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if (ImGui::Combo("Direction", &direction, options, 2))
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HALSIM_SetEncoderDirection(i, direction);
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ImGui::PopID();
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// distance
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double distance = HALSIM_GetEncoderDistance(i);
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if (ImGui::InputDouble("Distance", &distance, 0, 0, "%.6g"))
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HALSIM_SetEncoderDistance(i, distance);
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// rate
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double rate = HALSIM_GetEncoderRate(i);
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if (ImGui::InputDouble("Rate", &rate, 0, 0, "%.6g"))
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HALSIM_SetEncoderRate(i, rate);
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}
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}
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}
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}
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ImGui::PopItemWidth();
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if (!hasAny) ImGui::Text("No encoders");
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}
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void EncoderGui::Initialize() {
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gEncoders.Initialize();
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HALSimGui::AddWindow("Encoders", DisplayEncoders,
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ImGuiWindowFlags_AlwaysAutoResize);
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HALSimGui::SetDefaultWindowPos("Encoders", 640, 215);
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}
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