[glass] Add more widgets (#2947)

This adds the following widgets:
- Speed Controller
- Gyroscope
- Command
- Subsystem
- PIDController
- Scheduler

glass/src/lib/native/cpp/hardware/Gyro.cpp

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/hardware/Gyro.h"
+
+#include <cmath>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
+
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <wpi/math>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplayGyro(GyroModel* m) {
+  static const auto kColorWhite = IM_COL32(255, 255, 255, 255);
+  static const auto kColorGray = IM_COL32(200, 200, 200, 255);
+  static const auto kColorPurple = IM_COL32(200, 200, 255, 255);
+
+  auto angle = m->GetAngleData();
+  if (!angle || !m->Exists()) {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown Gyro");
+    ImGui::PopStyleColor();
+    return;
+  }
+
+  // Display the numeric angle value. This can be editable in some cases (i.e.
+  // running from HALSIM).
+  auto flags =
+      m->IsReadOnly() ? ImGuiInputTextFlags_ReadOnly : ImGuiInputTextFlags_None;
+  auto value = angle->GetValue();
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+  if (ImGui::InputDouble("Gyro Angle (Deg)", &value, 0.0, 0.0, "%.4f", flags))
+    m->SetAngle(value);
+
+  // Draw the gyro indicator.
+  ImDrawList* draw = ImGui::GetWindowDrawList();
+  ImVec2 window = ImGui::GetWindowPos();
+  float w = ImGui::GetWindowWidth();
+  float h = ImGui::GetWindowHeight();
+
+  float radius = (w < h) ? w * 0.3 : h * 0.3;
+  ImVec2 center = window + ImVec2(w / 2, h / 2 + ImGui::GetFontSize());
+
+  // Add the primary circle.
+  draw->AddCircle(center, radius, kColorWhite, 100, 1.5);
+
+  // Draw the spokes at every 5 degrees and a "major" spoke every 45 degrees.
+  for (int i = -175; i <= 180; i += 5) {
+    double radians = i * 2 * wpi::math::pi / 360.0;
+    ImVec2 direction(std::sin(radians), -std::cos(radians));
+
+    bool major = i % 45 == 0;
+    auto color = major ? kColorWhite : kColorGray;
+
+    draw->AddLine(center + (direction * radius),
+                  center + (direction * radius * (major ? 1.07f : 1.03f)),
+                  color, 1.2f);
+    if (major) {
+      char txt[16];
+      std::snprintf(txt, sizeof(txt), "%d°", i);
+      draw->AddText(
+          center + (direction * radius * 1.25) - ImGui::CalcTextSize(txt) * 0.5,
+          kColorWhite, txt, nullptr);
+    }
+  }
+
+  draw->AddCircleFilled(center, radius * 0.075, kColorPurple, 50);
+
+  double radians = value * 2 * wpi::math::pi / 360.0;
+  draw->AddLine(
+      center - ImVec2(1, 0),
+      center + ImVec2(std::sin(radians), -std::cos(radians)) * radius * 0.95f,
+      kColorPurple, 3);
+}

glass/src/lib/native/cpp/hardware/SpeedController.cpp

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/hardware/SpeedController.h"
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplaySpeedController(SpeedControllerModel* m) {
+  // Get duty cycle data from the model and do not display anything if the data
+  // is null.
+  auto dc = m->GetPercentData();
+  if (!dc || !m->Exists()) {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown SpeedController");
+    ImGui::PopStyleColor();
+    return;
+  }
+
+  // Add button to zero output.
+  if (ImGui::Button("Zero")) m->SetPercent(0.0);
+  ImGui::SameLine();
+
+  // Display a slider for the data.
+  float value = dc->GetValue();
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+  if (dc->SliderFloat("% Output", &value, -1.0f, 1.0f)) m->SetPercent(value);
+}

glass/src/lib/native/cpp/other/CommandScheduler.cpp

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/other/CommandScheduler.h"
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplayCommandScheduler(CommandSchedulerModel* m) {
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 20);
+  ImGui::Text("Scheduled Commands: ");
+  ImGui::Separator();
+  ImGui::Spacing();
+
+  if (m->Exists()) {
+    float pos = ImGui::GetContentRegionAvail().x * 0.97f -
+                ImGui::CalcTextSize("Cancel").x;
+
+    const auto& commands = m->GetCurrentCommands();
+    for (size_t i = 0; i < commands.size(); ++i) {
+      ImGui::Text("%s", commands[i].c_str());
+      ImGui::SameLine(pos);
+
+      ImGui::PushID(i);
+      if (ImGui::Button("Cancel")) m->CancelCommand(i);
+      ImGui::PopID();
+    }
+  } else {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown Scheduler");
+    ImGui::PopStyleColor();
+  }
+}

glass/src/lib/native/cpp/other/CommandSelector.cpp

@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/other/CommandSelector.h"
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplayCommandSelector(CommandSelectorModel* m) {
+  if (auto name = m->GetName()) ImGui::Text("%s", name);
+  if (m->Exists()) {
+    if (auto run = m->GetRunningData()) {
+      bool running = run->GetValue();
+      if (ImGui::Button(running ? "Cancel" : "Run")) {
+        running = !running;
+        m->SetRunning(running);
+      }
+      ImGui::SameLine();
+      if (running) ImGui::Text("Running...");
+    }
+  } else {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown Command");
+    ImGui::PopStyleColor();
+  }
+}

glass/src/lib/native/cpp/other/PIDController.cpp

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/other/PIDController.h"
+
+#include <string>
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplayPIDController(PIDControllerModel* m) {
+  if (auto name = m->GetName()) {
+    ImGui::Text("%s", name);
+    ImGui::Separator();
+  }
+
+  if (m->Exists()) {
+    auto createTuningParameter = [](const char* name, double* v,
+                                    std::function<void(double)> callback) {
+      ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
+      if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f")) callback(*v);
+    };
+
+    if (auto p = m->GetPData()) {
+      double value = p->GetValue();
+      createTuningParameter("P", &value, [=](auto v) { m->SetP(v); });
+    }
+    if (auto i = m->GetIData()) {
+      double value = i->GetValue();
+      createTuningParameter("I", &value, [=](auto v) { m->SetI(v); });
+    }
+    if (auto d = m->GetDData()) {
+      double value = d->GetValue();
+      createTuningParameter("D", &value, [=](auto v) { m->SetD(v); });
+    }
+    if (auto s = m->GetSetpointData()) {
+      double value = s->GetValue();
+      createTuningParameter("Setpoint", &value,
+                            [=](auto v) { m->SetSetpoint(v); });
+    }
+  } else {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown PID Controller");
+    ImGui::PopStyleColor();
+  }
+}

glass/src/lib/native/cpp/other/Subsystem.cpp

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "glass/other/Subsystem.h"
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplaySubsystem(SubsystemModel* m) {
+  if (auto name = m->GetName()) {
+    ImGui::Text("%s", name);
+    ImGui::Separator();
+  }
+  if (m->Exists()) {
+    std::string defaultCommand = m->GetDefaultCommand();
+    std::string currentCommand = m->GetCurrentCommand();
+    ImGui::Text("%s", ("Default Command: " + defaultCommand).c_str());
+    ImGui::Text("%s", ("Current Command: " + currentCommand).c_str());
+  } else {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown Subsystem");
+    ImGui::PopStyleColor();
+  }
+}