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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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12
glass/src/lib/native/cpp/other/DeviceTree.cpp
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@@ -151,28 +151,28 @@ static inline bool DeviceValueImpl(const char* name, bool readonly,
}
bool wpi::glass::DeviceBoolean(const char* name, bool readonly, bool* value,
const DataSource* source) {
const DataSource* source) {
return DeviceValueImpl(name, readonly, source, DeviceBooleanImpl, value);
}
bool wpi::glass::DeviceDouble(const char* name, bool readonly, double* value,
const DataSource* source) {
const DataSource* source) {
return DeviceValueImpl(name, readonly, source, DeviceDoubleImpl, value);
}
bool wpi::glass::DeviceEnum(const char* name, bool readonly, int* value,
const char** options, int32_t numOptions,
const DataSource* source) {
const char** options, int32_t numOptions,
const DataSource* source) {
return DeviceValueImpl(name, readonly, source, DeviceEnumImpl, value, options,
numOptions);
}
bool wpi::glass::DeviceInt(const char* name, bool readonly, int32_t* value,
const DataSource* source) {
const DataSource* source) {
return DeviceValueImpl(name, readonly, source, DeviceIntImpl, value);
}
bool wpi::glass::DeviceLong(const char* name, bool readonly, int64_t* value,
const DataSource* source) {
const DataSource* source) {
return DeviceValueImpl(name, readonly, source, DeviceLongImpl, value);
}

51
glass/src/lib/native/cpp/other/Field2D.cpp
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@@ -48,9 +48,10 @@ enum DisplayUnits { kDisplayMeters = 0, kDisplayFeet, kDisplayInches };
// Per-frame field data (not persistent)
struct FieldFrameData {
wpi::math::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
return {
wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
return {wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) /
scale},
wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) /
scale}};
}
ImVec2 GetScreenFromPos(const wpi::math::Translation2d& pos) const {
return {min.x + scale * pos.X().to<float>(),
@@ -94,7 +95,9 @@ class PopupState {
SelectedTargetInfo* GetTarget() { return &m_target; }
FieldObjectModel* GetInsertModel() { return m_insertModel; }
std::span<const wpi::math::Pose2d> GetInsertPoses() const { return m_insertPoses; }
std::span<const wpi::math::Pose2d> GetInsertPoses() const {
return m_insertPoses;
}
void Display(Field2DModel* model, const FieldFrameData& ffd);
@@ -282,8 +285,9 @@ static double ConvertDisplayAngle(wpi::units::degree_t v) {
return v.value();
}
static bool InputLength(const char* label, wpi::units::meter_t* v, double step = 0.0,
double step_fast = 0.0, const char* format = "%.6f",
static bool InputLength(const char* label, wpi::units::meter_t* v,
double step = 0.0, double step_fast = 0.0,
const char* format = "%.6f",
ImGuiInputTextFlags flags = 0) {
double dv = ConvertDisplayLength(*v);
if (ImGui::InputDouble(label, &dv, step, step_fast, format, flags)) {
@@ -316,8 +320,9 @@ static bool InputFloatLength(const char* label, float* v, double step = 0.0,
return false;
}
static bool InputAngle(const char* label, wpi::units::degree_t* v, double step = 0.0,
double step_fast = 0.0, const char* format = "%.6f",
static bool InputAngle(const char* label, wpi::units::degree_t* v,
double step = 0.0, double step_fast = 0.0,
const char* format = "%.6f",
ImGuiInputTextFlags flags = 0) {
double dv = ConvertDisplayAngle(*v);
if (ImGui::InputDouble(label, &dv, step, step_fast, format, flags)) {
@@ -465,7 +470,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
try {
image = j.at("field-image").get<std::string>();
} catch (const wpi::util::json::exception& e) {
wpi::util::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
wpi::util::print(stderr, "GUI: JSON: could not read field-image: {}\n",
e.what());
return false;
}
@@ -478,7 +484,7 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
right = j.at("field-corners").at("bottom-right").at(0).get<int>();
} catch (const wpi::util::json::exception& e) {
wpi::util::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
e.what());
e.what());
return false;
}
@@ -489,7 +495,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
width = j.at("field-size").at(0).get<float>();
height = j.at("field-size").at(1).get<float>();
} catch (const wpi::util::json::exception& e) {
wpi::util::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
wpi::util::print(stderr, "GUI: JSON: could not read field-size: {}\n",
e.what());
return false;
}
@@ -498,7 +505,8 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
try {
unit = j.at("field-unit").get<std::string>();
} catch (const wpi::util::json::exception& e) {
wpi::util::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
wpi::util::print(stderr, "GUI: JSON: could not read field-unit: {}\n",
e.what());
return false;
}
@@ -513,9 +521,9 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
int fieldHeight = m_bottom - m_top;
if (std::abs((fieldWidth / width) - (fieldHeight / height)) > 0.3) {
wpi::util::print(stderr,
"GUI: Field X and Y scaling substantially different: "
"xscale={} yscale={}\n",
(fieldWidth / width), (fieldHeight / height));
"GUI: Field X and Y scaling substantially different: "
"xscale={} yscale={}\n",
(fieldWidth / width), (fieldHeight / height));
}
if (!filename.empty()) {
@@ -772,8 +780,9 @@ bool ObjectInfo::LoadImageImpl(const std::string& fn) {
return true;
}
PoseFrameData::PoseFrameData(const wpi::math::Pose2d& pose, FieldObjectModel& model,
size_t index, const FieldFrameData& ffd,
PoseFrameData::PoseFrameData(const wpi::math::Pose2d& pose,
FieldObjectModel& model, size_t index,
const FieldFrameData& ffd,
const DisplayOptions& displayOptions)
: m_model{model},
m_index{index},
@@ -1086,7 +1095,7 @@ void FieldDisplay::Display(FieldInfo* field, Field2DModel* model,
if (target->corner != 1) {
gDragState.initialAngle =
wpi::units::radian_t{std::atan2(gDragState.initialOffset.y,
gDragState.initialOffset.x)} +
gDragState.initialOffset.x)} +
target->rot;
}
}
@@ -1182,7 +1191,8 @@ void PopupState::Display(Field2DModel* model, const FieldFrameData& ffd) {
void PopupState::DisplayTarget(Field2DModel* model, const FieldFrameData& ffd) {
ImGui::Text("%s[%d]", m_target.name.c_str(),
static_cast<int>(m_target.index));
wpi::math::Pose2d pose{ffd.GetPosFromScreen(m_target.poseCenter), m_target.rot};
wpi::math::Pose2d pose{ffd.GetPosFromScreen(m_target.poseCenter),
m_target.rot};
if (InputPose(&pose)) {
m_target.poseCenter = ffd.GetScreenFromPos(pose.Translation());
m_target.rot = pose.Rotation().Radians();
@@ -1277,7 +1287,8 @@ void PopupState::DisplayInsert(Field2DModel* model) {
}
}
void wpi::glass::DisplayField2D(Field2DModel* model, const ImVec2& contentSize) {
void wpi::glass::DisplayField2D(Field2DModel* model,
const ImVec2& contentSize) {
auto& storage = GetStorage();
auto field = storage.GetData<FieldInfo>();
if (!field) {

19
glass/src/lib/native/cpp/other/Mechanism2D.cpp
View File

@@ -38,9 +38,10 @@ namespace {
// Per-frame data (not persistent)
struct FrameData {
wpi::math::Translation2d GetPosFromScreen(const ImVec2& cursor) const {
return {
wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) / scale},
wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) / scale}};
return {wpi::units::meter_t{(std::clamp(cursor.x, min.x, max.x) - min.x) /
scale},
wpi::units::meter_t{(max.y - std::clamp(cursor.y, min.y, max.y)) /
scale}};
}
ImVec2 GetScreenFromPos(const wpi::math::Translation2d& pos) const {
return {min.x + scale * pos.X().to<float>(),
@@ -67,7 +68,8 @@ class BackgroundInfo {
void DisplaySettings();
void LoadImage();
FrameData GetFrameData(ImVec2 min, ImVec2 max, wpi::math::Translation2d dims) const;
FrameData GetFrameData(ImVec2 min, ImVec2 max,
wpi::math::Translation2d dims) const;
void Draw(ImDrawList* drawList, const FrameData& frameData,
ImU32 bgColor) const;
@@ -184,11 +186,12 @@ void FrameData::DrawObject(ImDrawList* drawList, MechanismObjectModel& objModel,
const wpi::math::Pose2d& pose) const {
const char* type = objModel.GetType();
if (std::string_view{type} == "line") {
auto startPose =
pose + wpi::math::Transform2d{wpi::math::Translation2d{}, objModel.GetAngle()};
auto startPose = pose + wpi::math::Transform2d{wpi::math::Translation2d{},
objModel.GetAngle()};
auto endPose =
startPose +
wpi::math::Transform2d{wpi::math::Translation2d{objModel.GetLength(), 0_m}, 0_deg};
wpi::math::Transform2d{
wpi::math::Translation2d{objModel.GetLength(), 0_m}, 0_deg};
drawList->AddLine(GetScreenFromPos(startPose.Translation()),
GetScreenFromPos(endPose.Translation()),
objModel.GetColor(), objModel.GetWeight());
@@ -203,7 +206,7 @@ void FrameData::DrawGroup(ImDrawList* drawList, MechanismObjectGroup& group,
}
void wpi::glass::DisplayMechanism2D(Mechanism2DModel* model,
const ImVec2& contentSize) {
const ImVec2& contentSize) {
auto& storage = GetStorage();
auto bg = storage.GetData<BackgroundInfo>();
if (!bg) {

17
glass/src/lib/native/cpp/other/Plot.cpp
View File

@@ -350,8 +350,9 @@ PlotSeries::Action PlotSeries::EmitPlot(PlotView& view, double now, size_t i,
CheckSource();
char label[128];
wpi::util::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}", GetName(),
static_cast<int>(i), static_cast<int>(plotIndex));
wpi::util::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}",
GetName(), static_cast<int>(i),
static_cast<int>(plotIndex));
int size = m_size;
int offset = m_offset;
@@ -619,7 +620,7 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
char label[128];
wpi::util::format_to_n_c_str(label, sizeof(label), "{}###plot{}", m_name,
static_cast<int>(i));
static_cast<int>(i));
ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
(m_crosshairs ? ImPlotFlags_Crosshairs : 0) |
@@ -976,15 +977,16 @@ void PlotView::Settings() {
char name[64];
if (!plot->GetName().empty()) {
wpi::util::format_to_n_c_str(name, sizeof(name), "{}", plot->GetName().c_str());
wpi::util::format_to_n_c_str(name, sizeof(name), "{}",
plot->GetName().c_str());
} else {
wpi::util::format_to_n_c_str(name, sizeof(name), "Plot {}",
static_cast<int>(i));
static_cast<int>(i));
}
char label[90];
wpi::util::format_to_n_c_str(label, sizeof(label), "{}###header{}", name,
static_cast<int>(i));
static_cast<int>(i));
bool open = ImGui::CollapsingHeader(label);
@@ -1053,7 +1055,8 @@ void PlotProvider::DisplayMenu() {
char id[32];
size_t numWindows = m_windows.size();
for (size_t i = 0; i <= numWindows; ++i) {
wpi::util::format_to_n_c_str(id, sizeof(id), "Plot <{}>", static_cast<int>(i));
wpi::util::format_to_n_c_str(id, sizeof(id), "Plot <{}>",
static_cast<int>(i));
bool match = false;
for (size_t j = 0; j < numWindows; ++j) {