[glass] Add more widgets (#2947)

This adds the following widgets: - Speed Controller - Gyroscope - Command - Subsystem - PIDController - Scheduler
2026-06-23 01:21:42 +00:00 · 2020-12-23 00:07:44 -05:00
parent 581b7ec553
commit 27b67deca6
25 changed files with 1101 additions and 0 deletions
--- a/glass/src/lib/native/cpp/hardware/Gyro.cpp
+++ b/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);
+}