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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
89 lines
2.8 KiB
C++
89 lines
2.8 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 "SolenoidGui.h"
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#include <cstdio>
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#include <cstring>
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#include <hal/Ports.h>
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#include <hal/simulation/PCMData.h>
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#include <imgui.h>
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#include <wpi/SmallVector.h>
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#include "ExtraGuiWidgets.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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static IniSaver<OpenInfo> gPCMs{"PCM"};
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static IniSaver<NameInfo> gSolenoids{"Solenoid"};
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static void DisplaySolenoids() {
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bool hasOutputs = false;
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static const int numPCM = HAL_GetNumPCMModules();
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static const int numChannels = HAL_GetNumSolenoidChannels();
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for (int i = 0; i < numPCM; ++i) {
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bool anyInit = false;
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wpi::SmallVector<int, 16> channels;
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channels.resize(numChannels);
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for (int j = 0; j < numChannels; ++j) {
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if (HALSIM_GetPCMSolenoidInitialized(i, j)) {
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anyInit = true;
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channels[j] = (!HALSimGui::AreOutputsDisabled() &&
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HALSIM_GetPCMSolenoidOutput(i, j))
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? 1
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: -1;
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} else {
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channels[j] = -2;
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}
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}
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if (!anyInit) continue;
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hasOutputs = true;
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char name[128];
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std::snprintf(name, sizeof(name), "PCM[%d]", i);
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auto& pcmInfo = gPCMs[i];
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bool open = ImGui::CollapsingHeader(
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name, pcmInfo.IsOpen() ? ImGuiTreeNodeFlags_DefaultOpen : 0);
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pcmInfo.SetOpen(open);
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ImGui::SetItemAllowOverlap();
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ImGui::SameLine();
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// show channels as LED indicators
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static const ImU32 colors[] = {IM_COL32(255, 255, 102, 255),
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IM_COL32(128, 128, 128, 255)};
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DrawLEDs(channels.data(), channels.size(), channels.size(), colors);
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if (open) {
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ImGui::PushID(i);
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ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
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for (int j = 0; j < numChannels; ++j) {
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if (channels[j] == -2) continue;
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auto& info = gSolenoids[i * numChannels + j];
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info.GetName(name, sizeof(name), "Solenoid", j);
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ImGui::LabelText(name, "%s", channels[j] == 1 ? "On" : "Off");
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info.PopupEditName(j);
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}
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ImGui::PopItemWidth();
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ImGui::PopID();
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}
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}
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if (!hasOutputs) ImGui::Text("No solenoids");
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}
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void SolenoidGui::Initialize() {
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gPCMs.Initialize();
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gSolenoids.Initialize();
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HALSimGui::AddWindow("Solenoids", DisplaySolenoids,
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ImGuiWindowFlags_AlwaysAutoResize);
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HALSimGui::SetDefaultWindowPos("Solenoids", 290, 20);
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}
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