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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
127 lines
4.2 KiB
C++
127 lines
4.2 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 "AddressableLEDGui.h"
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#include <hal/Ports.h>
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#include <hal/simulation/AddressableLEDData.h>
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <wpi/SmallVector.h>
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#include <wpi/StringRef.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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namespace {
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struct LEDDisplayInfo {
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int numColumns = 10;
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LEDConfig config;
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bool ReadIni(wpi::StringRef name, wpi::StringRef value);
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void WriteIni(ImGuiTextBuffer* out);
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};
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} // namespace
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static IniSaver<LEDDisplayInfo> gDisplaySettings{"AddressableLED"};
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bool LEDDisplayInfo::ReadIni(wpi::StringRef name, wpi::StringRef value) {
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if (name == "columns") {
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int num;
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if (value.getAsInteger(10, num)) return true;
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numColumns = num;
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} else if (name == "serpentine") {
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int num;
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if (value.getAsInteger(10, num)) return true;
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config.serpentine = num != 0;
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} else if (name == "order") {
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int num;
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if (value.getAsInteger(10, num)) return true;
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config.order = static_cast<LEDConfig::Order>(num);
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} else if (name == "start") {
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int num;
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if (value.getAsInteger(10, num)) return true;
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config.start = static_cast<LEDConfig::Start>(num);
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} else {
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return false;
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}
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return true;
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}
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void LEDDisplayInfo::WriteIni(ImGuiTextBuffer* out) {
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out->appendf("columns=%d\nserpentine=%d\norder=%d\nstart=%d\n", numColumns,
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config.serpentine ? 1 : 0, static_cast<int>(config.order),
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static_cast<int>(config.start));
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}
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static void DisplayAddressableLEDs() {
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bool hasAny = false;
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static const int numLED = HAL_GetNumAddressableLEDs();
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for (int i = 0; i < numLED; ++i) {
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if (!HALSIM_GetAddressableLEDInitialized(i)) continue;
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hasAny = true;
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if (numLED > 1) ImGui::Text("LEDs[%d]", i);
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static HAL_AddressableLEDData data[HAL_kAddressableLEDMaxLength];
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int length = HALSIM_GetAddressableLEDData(i, data);
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bool running = HALSIM_GetAddressableLEDRunning(i);
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auto& info = gDisplaySettings[i];
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ImGui::PushItemWidth(ImGui::GetFontSize() * 6);
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ImGui::LabelText("Length", "%d", length);
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ImGui::LabelText("Running", "%s", running ? "Yes" : "No");
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ImGui::InputInt("Columns", &info.numColumns);
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{
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static const char* options[] = {"Row Major", "Column Major"};
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int val = info.config.order;
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if (ImGui::Combo("Order", &val, options, 2))
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info.config.order = static_cast<LEDConfig::Order>(val);
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}
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{
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static const char* options[] = {"Upper Left", "Lower Left", "Upper Right",
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"Lower Right"};
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int val = info.config.start;
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if (ImGui::Combo("Start", &val, options, 4))
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info.config.start = static_cast<LEDConfig::Start>(val);
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}
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ImGui::Checkbox("Serpentine", &info.config.serpentine);
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if (info.numColumns < 1) info.numColumns = 1;
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ImGui::PopItemWidth();
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// show as LED indicators
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static int values[HAL_kAddressableLEDMaxLength];
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static ImU32 colors[HAL_kAddressableLEDMaxLength];
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if (!running) {
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colors[0] = IM_COL32(128, 128, 128, 255);
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for (int j = 0; j < length; ++j) values[j] = -1;
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} else {
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for (int j = 0; j < length; ++j) {
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values[j] = j + 1;
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colors[j] = IM_COL32(data[j].r, data[j].g, data[j].b, 255);
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}
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}
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DrawLEDs(values, length, info.numColumns, colors, 0, 0, info.config);
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}
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if (!hasAny) ImGui::Text("No addressable LEDs");
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}
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void AddressableLEDGui::Initialize() {
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gDisplaySettings.Initialize();
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HALSimGui::AddWindow("Addressable LEDs", DisplayAddressableLEDs,
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ImGuiWindowFlags_AlwaysAutoResize);
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HALSimGui::SetWindowVisibility("Addressable LEDs", HALSimGui::kHide);
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HALSimGui::SetDefaultWindowPos("Addressable LEDs", 290, 100);
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}
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