[glass] Add more widgets (#2947)

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

glass/src/libnt/native/cpp/NTCommandScheduler.cpp

@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTCommandScheduler.h"
+
+#include <iostream>
+
+using namespace glass;
+
+NTCommandSchedulerModel::NTCommandSchedulerModel(wpi::StringRef path)
+    : NTCommandSchedulerModel(nt::GetDefaultInstance(), path) {}
+
+NTCommandSchedulerModel::NTCommandSchedulerModel(NT_Inst instance,
+                                                 wpi::StringRef path)
+    : m_nt(instance),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_commands(m_nt.GetEntry(path + "/Names")),
+      m_ids(m_nt.GetEntry(path + "/Ids")),
+      m_cancel(m_nt.GetEntry(path + "/Cancel")),
+      m_nameValue(path.rsplit('/').second) {
+  m_nt.AddListener(m_name);
+  m_nt.AddListener(m_commands);
+  m_nt.AddListener(m_ids);
+  m_nt.AddListener(m_cancel);
+  Update();
+}
+
+void NTCommandSchedulerModel::CancelCommand(size_t index) {
+  if (index < m_idsValue.size())
+    nt::SetEntryValue(
+        m_cancel, nt::NetworkTableValue::MakeDoubleArray({m_idsValue[index]}));
+}
+
+void NTCommandSchedulerModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    } else if (event.entry == m_commands) {
+      if (event.value && event.value->IsStringArray())
+        m_commandsValue = event.value->GetStringArray();
+    } else if (event.entry == m_ids) {
+      if (event.value && event.value->IsDoubleArray())
+        m_idsValue = event.value->GetDoubleArray();
+    }
+  }
+}
+
+bool NTCommandSchedulerModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_commands) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTCommandSelector.cpp

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTCommandSelector.h"
+
+using namespace glass;
+
+NTCommandSelectorModel::NTCommandSelectorModel(wpi::StringRef path)
+    : NTCommandSelectorModel(nt::GetDefaultInstance(), path) {}
+
+NTCommandSelectorModel::NTCommandSelectorModel(NT_Inst instance,
+                                               wpi::StringRef path)
+    : m_nt(instance),
+      m_running(m_nt.GetEntry(path + "/running")),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_runningData("NTCmd:" + path),
+      m_nameValue(path.rsplit('/').second) {
+  m_runningData.SetDigital(true);
+  m_nt.AddListener(m_running);
+  m_nt.AddListener(m_name);
+  Update();
+}
+
+void NTCommandSelectorModel::SetRunning(bool run) {
+  nt::SetEntryValue(m_running, nt::NetworkTableValue::MakeBoolean(run));
+}
+
+void NTCommandSelectorModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_running) {
+      if (event.value && event.value->IsBoolean())
+        m_runningData.SetValue(event.value->GetBoolean());
+    } else if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    }
+  }
+}
+
+bool NTCommandSelectorModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_running) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTGyro.cpp

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTGyro.h"
+
+using namespace glass;
+
+NTGyroModel::NTGyroModel(wpi::StringRef path)
+    : NTGyroModel(nt::GetDefaultInstance(), path) {}
+
+NTGyroModel::NTGyroModel(NT_Inst instance, wpi::StringRef path)
+    : m_nt(instance),
+      m_angle(m_nt.GetEntry(path + "/Value")),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_angleData("NT_Gyro:" + path),
+      m_nameValue(path.rsplit('/').second) {
+  m_nt.AddListener(m_angle);
+  m_nt.AddListener(m_name);
+  Update();
+}
+
+void NTGyroModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_angle) {
+      if (event.value && event.value->IsDouble())
+        m_angleData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    }
+  }
+}
+
+bool NTGyroModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_angle) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTPIDController.cpp

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTPIDController.h"
+
+using namespace glass;
+
+NTPIDControllerModel::NTPIDControllerModel(wpi::StringRef path)
+    : NTPIDControllerModel(nt::GetDefaultInstance(), path) {}
+
+NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
+                                           wpi::StringRef path)
+    : m_nt(instance),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_p(m_nt.GetEntry(path + "/p")),
+      m_i(m_nt.GetEntry(path + "/i")),
+      m_d(m_nt.GetEntry(path + "/d")),
+      m_setpoint(m_nt.GetEntry(path + "/setpoint")),
+      m_pData("NTPIDCtrlP:" + path),
+      m_iData("NTPIDCtrlI:" + path),
+      m_dData("NTPIDCtrlD:" + path),
+      m_setpointData("NTPIDCtrlStpt:" + path),
+      m_nameValue(path.rsplit('/').second) {
+  m_nt.AddListener(m_name);
+  m_nt.AddListener(m_p);
+  m_nt.AddListener(m_i);
+  m_nt.AddListener(m_d);
+  m_nt.AddListener(m_setpoint);
+  Update();
+}
+
+void NTPIDControllerModel::SetP(double value) {
+  nt::SetEntryValue(m_p, nt::NetworkTableValue::MakeDouble(value));
+}
+
+void NTPIDControllerModel::SetI(double value) {
+  nt::SetEntryValue(m_i, nt::NetworkTableValue::MakeDouble(value));
+}
+
+void NTPIDControllerModel::SetD(double value) {
+  nt::SetEntryValue(m_d, nt::NetworkTableValue::MakeDouble(value));
+}
+
+void NTPIDControllerModel::SetSetpoint(double value) {
+  nt::SetEntryValue(m_setpoint, nt::NetworkTableValue::MakeDouble(value));
+}
+
+void NTPIDControllerModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    } else if (event.entry == m_p) {
+      if (event.value && event.value->IsDouble())
+        m_pData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_i) {
+      if (event.value && event.value->IsDouble())
+        m_iData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_d) {
+      if (event.value && event.value->IsDouble())
+        m_dData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_setpoint) {
+      if (event.value && event.value->IsDouble())
+        m_setpointData.SetValue(event.value->GetDouble());
+    }
+  }
+}
+
+bool NTPIDControllerModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_setpoint) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTSpeedController.cpp

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTSpeedController.h"
+
+using namespace glass;
+
+NTSpeedControllerModel::NTSpeedControllerModel(wpi::StringRef path)
+    : NTSpeedControllerModel(nt::GetDefaultInstance(), path) {}
+
+NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
+                                               wpi::StringRef path)
+    : m_nt(instance),
+      m_value(m_nt.GetEntry(path + "/Value")),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_valueData("NT_SpdCtrl:" + path),
+      m_nameValue(path.rsplit('/').second) {
+  m_nt.AddListener(m_value);
+  m_nt.AddListener(m_name);
+  Update();
+}
+
+void NTSpeedControllerModel::SetPercent(double value) {
+  nt::SetEntryValue(m_value, nt::NetworkTableValue::MakeDouble(value));
+}
+
+void NTSpeedControllerModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_value) {
+      if (event.value && event.value->IsDouble())
+        m_valueData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    }
+  }
+}
+
+bool NTSpeedControllerModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/NTSubsystem.cpp

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* 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/networktables/NTSubsystem.h"
+
+using namespace glass;
+
+NTSubsystemModel::NTSubsystemModel(wpi::StringRef path)
+    : NTSubsystemModel(nt::GetDefaultInstance(), path) {}
+
+NTSubsystemModel::NTSubsystemModel(NT_Inst instance, wpi::StringRef path)
+    : m_nt(instance),
+      m_name(m_nt.GetEntry(path + "/.name")),
+      m_defaultCommand(m_nt.GetEntry(path + "/.default")),
+      m_currentCommand(m_nt.GetEntry(path + "/.command")) {
+  m_nt.AddListener(m_name);
+  m_nt.AddListener(m_defaultCommand);
+  m_nt.AddListener(m_currentCommand);
+  Update();
+}
+
+void NTSubsystemModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_name) {
+      if (event.value && event.value->IsString())
+        m_nameValue = event.value->GetString();
+    } else if (event.entry == m_defaultCommand) {
+      if (event.value && event.value->IsString())
+        m_defaultCommandValue = event.value->GetString();
+    } else if (event.entry == m_currentCommand) {
+      if (event.value && event.value->IsString()) {
+        m_currentCommandValue = event.value->GetString();
+      }
+    }
+  }
+}
+
+bool NTSubsystemModel::Exists() {
+  return m_nt.IsConnected() &&
+         nt::GetEntryType(m_defaultCommand) != NT_UNASSIGNED;
+}

glass/src/libnt/native/cpp/StandardNetworkTables.cpp

@@ -5,16 +5,44 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "glass/networktables/NTCommandScheduler.h"
+#include "glass/networktables/NTCommandSelector.h"
 #include "glass/networktables/NTDigitalInput.h"
 #include "glass/networktables/NTDigitalOutput.h"
 #include "glass/networktables/NTFMS.h"
 #include "glass/networktables/NTField2D.h"
+#include "glass/networktables/NTGyro.h"
+#include "glass/networktables/NTPIDController.h"
+#include "glass/networktables/NTSpeedController.h"
 #include "glass/networktables/NTStringChooser.h"
+#include "glass/networktables/NTSubsystem.h"
 #include "glass/networktables/NetworkTablesProvider.h"
 
 using namespace glass;
 
 void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
+  provider.Register(
+      NTCommandSchedulerModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTCommandSchedulerModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char*) {
+        win->SetDefaultSize(400, 200);
+        return MakeFunctionView([=] {
+          DisplayCommandScheduler(static_cast<NTCommandSchedulerModel*>(model));
+        });
+      });
+  provider.Register(
+      NTCommandSelectorModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTCommandSelectorModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char*) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        return MakeFunctionView([=] {
+          DisplayCommandSelector(static_cast<NTCommandSelectorModel*>(model));
+        });
+      });
   provider.Register(
       NTFMSModel::kType,
       [](NT_Inst inst, const char* path) {
@@ -59,6 +87,38 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
         return std::make_unique<Field2DView>(
             static_cast<NTField2DModel*>(model));
       });
+  provider.Register(
+      NTGyroModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTGyroModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char* path) {
+        win->SetDefaultSize(320, 380);
+        return MakeFunctionView(
+            [=] { DisplayGyro(static_cast<NTGyroModel*>(model)); });
+      });
+  provider.Register(
+      NTPIDControllerModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTPIDControllerModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char* path) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        return MakeFunctionView([=] {
+          DisplayPIDController(static_cast<NTPIDControllerModel*>(model));
+        });
+      });
+  provider.Register(
+      NTSpeedControllerModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTSpeedControllerModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char* path) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        return MakeFunctionView([=] {
+          DisplaySpeedController(static_cast<NTSpeedControllerModel*>(model));
+        });
+      });
   provider.Register(
       NTStringChooserModel::kType,
       [](NT_Inst inst, const char* path) {
@@ -70,4 +130,14 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
           DisplayStringChooser(static_cast<NTStringChooserModel*>(model));
         });
       });
+  provider.Register(
+      NTSubsystemModel::kType,
+      [](NT_Inst inst, const char* path) {
+        return std::make_unique<NTSubsystemModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char*) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        return MakeFunctionView(
+            [=] { DisplaySubsystem(static_cast<NTSubsystemModel*>(model)); });
+      });
 }