mirror of
https://github.com/wpilibsuite/allwpilib
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105 lines
2.8 KiB
C++
105 lines
2.8 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 "PWMSimGui.hpp"
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#include <memory>
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#include <vector>
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#include "wpi/glass/hardware/PWM.hpp"
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#include "wpi/hal/Ports.h"
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#include "wpi/hal/simulation/AddressableLEDData.h"
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#include "wpi/hal/simulation/PWMData.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_INDEXED(PWMPulseMicrosecond, "PWM");
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class PWMSimModel : public wpi::glass::PWMModel {
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public:
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explicit PWMSimModel(int32_t index) : m_index{index}, m_speed{m_index} {}
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void Update() override {}
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bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }
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wpi::glass::DoubleSource* GetSpeedData() override { return &m_speed; }
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void SetSpeed(double val) override {
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HALSIM_SetPWMPulseMicrosecond(m_index, val);
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}
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private:
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int32_t m_index;
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PWMPulseMicrosecondSource m_speed;
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};
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class PWMsSimModel : public wpi::glass::PWMsModel {
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public:
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PWMsSimModel() : m_sources(HAL_GetNumPWMChannels()) {}
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void Update() override;
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bool Exists() override { return true; }
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void ForEachPWM(
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wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) override;
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private:
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// indexed by channel
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std::vector<std::unique_ptr<PWMSimModel>> m_sources;
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};
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} // namespace
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void PWMsSimModel::Update() {
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const int32_t numPWM = m_sources.size();
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for (int32_t i = 0; i < numPWM; ++i) {
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auto& model = m_sources[i];
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if (HALSIM_GetPWMInitialized(i)) {
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if (!model) {
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model = std::make_unique<PWMSimModel>(i);
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}
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} else {
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model.reset();
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}
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}
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}
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void PWMsSimModel::ForEachPWM(
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wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) {
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const int32_t numPWM = m_sources.size();
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for (int32_t i = 0; i < numPWM; ++i) {
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if (auto model = m_sources[i].get()) {
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func(*model, i);
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}
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}
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}
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static bool PWMsAnyInitialized() {
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static const int32_t num = HAL_GetNumPWMChannels();
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for (int32_t i = 0; i < num; ++i) {
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if (HALSIM_GetPWMInitialized(i)) {
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return true;
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}
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}
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return false;
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}
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void PWMSimGui::Initialize() {
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HALSimGui::halProvider->Register(
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"PWM Outputs", PWMsAnyInitialized,
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[] { return std::make_unique<PWMsSimModel>(); },
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[](wpi::glass::Window* win, wpi::glass::Model* model) {
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win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
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win->SetDefaultPos(910, 20);
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return wpi::glass::MakeFunctionView([=] {
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wpi::glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
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HALSimGui::halProvider->AreOutputsEnabled());
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});
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});
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}
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