mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[glass] Add glass: an application for display of robot data
This reuses many pieces of the current simulation GUI. The common pieces have been refactored into the libglass library. The libglass library is designed to be usable for other standalone data visualization applications (e.g. viewing data logs). The name "glass" comes from "glass cockpit", as the application features several multi-function displays that can be adjusted to display robot information as needed.
This commit is contained in:
Peter Johnson
422
glass/src/lib/native/cpp/Context.cpp
Normal file
422
glass/src/lib/native/cpp/Context.cpp
Normal file
@@ -0,0 +1,422 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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/Context.h"
|
||||
|
||||
#include <algorithm>
|
||||
#include <cinttypes>
|
||||
#include <cstdio>
|
||||
|
||||
#include <imgui.h>
|
||||
#include <imgui_internal.h>
|
||||
#include <imgui_stdlib.h>
|
||||
#include <wpi/StringRef.h>
|
||||
#include <wpigui.h>
|
||||
|
||||
#include "glass/ContextInternal.h"
|
||||
|
||||
using namespace glass;
|
||||
|
||||
Context* glass::gContext;
|
||||
|
||||
static bool ConvertInt(Storage::Value* value) {
|
||||
value->type = Storage::Value::kInt;
|
||||
if (value->stringVal.empty()) {
|
||||
return false;
|
||||
} else {
|
||||
if (wpi::StringRef{value->stringVal}.getAsInteger(10, value->intVal))
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool ConvertInt64(Storage::Value* value) {
|
||||
value->type = Storage::Value::kInt64;
|
||||
if (value->stringVal.empty()) {
|
||||
return false;
|
||||
} else {
|
||||
if (wpi::StringRef{value->stringVal}.getAsInteger(10, value->int64Val))
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool ConvertBool(Storage::Value* value) {
|
||||
value->type = Storage::Value::kBool;
|
||||
if (value->stringVal.empty()) {
|
||||
return false;
|
||||
} else {
|
||||
int val;
|
||||
if (wpi::StringRef{value->stringVal}.getAsInteger(10, val)) {
|
||||
return false;
|
||||
}
|
||||
value->boolVal = (val != 0);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool ConvertFloat(Storage::Value* value) {
|
||||
value->type = Storage::Value::kFloat;
|
||||
if (value->stringVal.empty()) {
|
||||
return false;
|
||||
} else {
|
||||
if (std::sscanf(value->stringVal.c_str(), "%f", &value->floatVal) != 1)
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool ConvertDouble(Storage::Value* value) {
|
||||
value->type = Storage::Value::kDouble;
|
||||
if (value->stringVal.empty()) {
|
||||
return false;
|
||||
} else {
|
||||
if (std::sscanf(value->stringVal.c_str(), "%lf", &value->doubleVal) != 1)
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static void* GlassStorageReadOpen(ImGuiContext*, ImGuiSettingsHandler* handler,
|
||||
const char* name) {
|
||||
auto ctx = static_cast<Context*>(handler->UserData);
|
||||
auto& storage = ctx->storage[name];
|
||||
if (!storage) storage = std::make_unique<Storage>();
|
||||
return storage.get();
|
||||
}
|
||||
|
||||
static void GlassStorageReadLine(ImGuiContext*, ImGuiSettingsHandler*,
|
||||
void* entry, const char* line) {
|
||||
auto storage = static_cast<Storage*>(entry);
|
||||
auto [key, val] = wpi::StringRef{line}.split('=');
|
||||
auto& keys = storage->GetKeys();
|
||||
auto& values = storage->GetValues();
|
||||
auto it = std::find(keys.begin(), keys.end(), key);
|
||||
if (it == keys.end()) {
|
||||
keys.emplace_back(key);
|
||||
values.emplace_back(std::make_unique<Storage::Value>(val));
|
||||
} else {
|
||||
auto& value = *values[it - keys.begin()];
|
||||
value.stringVal = val;
|
||||
switch (value.type) {
|
||||
case Storage::Value::kInt:
|
||||
ConvertInt(&value);
|
||||
break;
|
||||
case Storage::Value::kInt64:
|
||||
ConvertInt64(&value);
|
||||
break;
|
||||
case Storage::Value::kBool:
|
||||
ConvertBool(&value);
|
||||
break;
|
||||
case Storage::Value::kFloat:
|
||||
ConvertFloat(&value);
|
||||
break;
|
||||
case Storage::Value::kDouble:
|
||||
ConvertDouble(&value);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void GlassStorageWriteAll(ImGuiContext*, ImGuiSettingsHandler* handler,
|
||||
ImGuiTextBuffer* out_buf) {
|
||||
auto ctx = static_cast<Context*>(handler->UserData);
|
||||
|
||||
// sort for output
|
||||
std::vector<wpi::StringMapConstIterator<std::unique_ptr<Storage>>> sorted;
|
||||
for (auto it = ctx->storage.begin(); it != ctx->storage.end(); ++it) {
|
||||
sorted.emplace_back(it);
|
||||
}
|
||||
std::sort(sorted.begin(), sorted.end(), [](const auto& a, const auto& b) {
|
||||
return a->getKey() < b->getKey();
|
||||
});
|
||||
|
||||
for (auto&& entryIt : sorted) {
|
||||
auto& entry = *entryIt;
|
||||
out_buf->append("[GlassStorage][");
|
||||
out_buf->append(entry.first().begin(), entry.first().end());
|
||||
out_buf->append("]\n");
|
||||
auto& keys = entry.second->GetKeys();
|
||||
auto& values = entry.second->GetValues();
|
||||
for (size_t i = 0; i < keys.size(); ++i) {
|
||||
out_buf->append(keys[i].data(), keys[i].data() + keys[i].size());
|
||||
out_buf->append("=");
|
||||
auto& value = *values[i];
|
||||
switch (value.type) {
|
||||
case Storage::Value::kInt:
|
||||
out_buf->appendf("%d\n", value.intVal);
|
||||
break;
|
||||
case Storage::Value::kInt64:
|
||||
out_buf->appendf("%" PRId64 "\n", value.int64Val);
|
||||
break;
|
||||
case Storage::Value::kBool:
|
||||
out_buf->appendf("%d\n", value.boolVal ? 1 : 0);
|
||||
break;
|
||||
case Storage::Value::kFloat:
|
||||
out_buf->appendf("%f\n", value.floatVal);
|
||||
break;
|
||||
case Storage::Value::kDouble:
|
||||
out_buf->appendf("%f\n", value.doubleVal);
|
||||
break;
|
||||
case Storage::Value::kNone:
|
||||
case Storage::Value::kString:
|
||||
out_buf->append(value.stringVal.data(),
|
||||
value.stringVal.data() + value.stringVal.size());
|
||||
out_buf->append("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
out_buf->append("\n");
|
||||
}
|
||||
}
|
||||
|
||||
static void Initialize(Context* ctx) {
|
||||
wpi::gui::AddInit([=] {
|
||||
ImGuiSettingsHandler ini_handler;
|
||||
ini_handler.TypeName = "GlassStorage";
|
||||
ini_handler.TypeHash = ImHashStr("GlassStorage");
|
||||
ini_handler.ReadOpenFn = GlassStorageReadOpen;
|
||||
ini_handler.ReadLineFn = GlassStorageReadLine;
|
||||
ini_handler.WriteAllFn = GlassStorageWriteAll;
|
||||
ini_handler.UserData = ctx;
|
||||
ImGui::GetCurrentContext()->SettingsHandlers.push_back(ini_handler);
|
||||
|
||||
ctx->sources.Initialize();
|
||||
});
|
||||
}
|
||||
|
||||
static void Shutdown(Context* ctx) {}
|
||||
|
||||
Context* glass::CreateContext() {
|
||||
Context* ctx = new Context;
|
||||
if (!gContext) SetCurrentContext(ctx);
|
||||
Initialize(ctx);
|
||||
return ctx;
|
||||
}
|
||||
|
||||
void glass::DestroyContext(Context* ctx) {
|
||||
if (!ctx) ctx = gContext;
|
||||
Shutdown(ctx);
|
||||
if (gContext == ctx) SetCurrentContext(nullptr);
|
||||
delete ctx;
|
||||
}
|
||||
|
||||
Context* glass::GetCurrentContext() { return gContext; }
|
||||
|
||||
void glass::SetCurrentContext(Context* ctx) { gContext = ctx; }
|
||||
|
||||
Storage::Value& Storage::GetValue(wpi::StringRef key) {
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key);
|
||||
if (it == m_keys.end()) {
|
||||
m_keys.emplace_back(key);
|
||||
m_values.emplace_back(std::make_unique<Value>());
|
||||
return *m_values.back();
|
||||
} else {
|
||||
return *m_values[it - m_keys.begin()];
|
||||
}
|
||||
}
|
||||
|
||||
#define DEFUN(CapsName, LowerName, CType) \
|
||||
CType Storage::Get##CapsName(wpi::StringRef key, CType defaultVal) const { \
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key); \
|
||||
if (it == m_keys.end()) return defaultVal; \
|
||||
Value& value = *m_values[it - m_keys.begin()]; \
|
||||
if (value.type != Value::k##CapsName) { \
|
||||
if (!Convert##CapsName(&value)) value.LowerName##Val = defaultVal; \
|
||||
} \
|
||||
return value.LowerName##Val; \
|
||||
} \
|
||||
\
|
||||
void Storage::Set##CapsName(wpi::StringRef key, CType val) { \
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key); \
|
||||
if (it == m_keys.end()) { \
|
||||
m_keys.emplace_back(key); \
|
||||
m_values.emplace_back(std::make_unique<Value>()); \
|
||||
m_values.back()->type = Value::k##CapsName; \
|
||||
m_values.back()->LowerName##Val = val; \
|
||||
} else { \
|
||||
Value& value = *m_values[it - m_keys.begin()]; \
|
||||
value.type = Value::k##CapsName; \
|
||||
value.LowerName##Val = val; \
|
||||
} \
|
||||
} \
|
||||
\
|
||||
CType* Storage::Get##CapsName##Ref(wpi::StringRef key, CType defaultVal) { \
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key); \
|
||||
if (it == m_keys.end()) { \
|
||||
m_keys.emplace_back(key); \
|
||||
m_values.emplace_back(std::make_unique<Value>()); \
|
||||
m_values.back()->type = Value::k##CapsName; \
|
||||
m_values.back()->LowerName##Val = defaultVal; \
|
||||
return &m_values.back()->LowerName##Val; \
|
||||
} else { \
|
||||
Value& value = *m_values[it - m_keys.begin()]; \
|
||||
if (value.type != Value::k##CapsName) { \
|
||||
if (!Convert##CapsName(&value)) value.LowerName##Val = defaultVal; \
|
||||
} \
|
||||
return &value.LowerName##Val; \
|
||||
} \
|
||||
}
|
||||
|
||||
DEFUN(Int, int, int)
|
||||
DEFUN(Int64, int64, int64_t)
|
||||
DEFUN(Bool, bool, bool)
|
||||
DEFUN(Float, float, float)
|
||||
DEFUN(Double, double, double)
|
||||
|
||||
std::string Storage::GetString(wpi::StringRef key,
|
||||
const std::string& defaultVal) const {
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key);
|
||||
if (it == m_keys.end()) return defaultVal;
|
||||
Value& value = *m_values[it - m_keys.begin()];
|
||||
value.type = Value::kString;
|
||||
return value.stringVal;
|
||||
}
|
||||
|
||||
void Storage::SetString(wpi::StringRef key, const wpi::Twine& val) {
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key);
|
||||
if (it == m_keys.end()) {
|
||||
m_keys.emplace_back(key);
|
||||
m_values.emplace_back(std::make_unique<Value>(val));
|
||||
m_values.back()->type = Value::kString;
|
||||
} else {
|
||||
Value& value = *m_values[it - m_keys.begin()];
|
||||
value.type = Value::kString;
|
||||
value.stringVal = val.str();
|
||||
}
|
||||
}
|
||||
|
||||
std::string* Storage::GetStringRef(wpi::StringRef key,
|
||||
wpi::StringRef defaultVal) {
|
||||
auto it = std::find(m_keys.begin(), m_keys.end(), key);
|
||||
if (it == m_keys.end()) {
|
||||
m_keys.emplace_back(key);
|
||||
m_values.emplace_back(std::make_unique<Value>(defaultVal));
|
||||
m_values.back()->type = Value::kString;
|
||||
return &m_values.back()->stringVal;
|
||||
} else {
|
||||
Value& value = *m_values[it - m_keys.begin()];
|
||||
value.type = Value::kString;
|
||||
return &value.stringVal;
|
||||
}
|
||||
}
|
||||
|
||||
Storage& glass::GetStorage() {
|
||||
auto& storage = gContext->storage[gContext->curId];
|
||||
if (!storage) storage = std::make_unique<Storage>();
|
||||
return *storage;
|
||||
}
|
||||
|
||||
Storage& glass::GetStorage(wpi::StringRef id) {
|
||||
auto& storage = gContext->storage[id];
|
||||
if (!storage) storage = std::make_unique<Storage>();
|
||||
return *storage;
|
||||
}
|
||||
|
||||
static void PushIDStack(wpi::StringRef label_id) {
|
||||
gContext->idStack.emplace_back(gContext->curId.size());
|
||||
|
||||
auto [label, id] = wpi::StringRef{label_id}.split("###");
|
||||
// if no ###id, use label as id
|
||||
if (id.empty()) id = label;
|
||||
if (!gContext->curId.empty()) gContext->curId += "###";
|
||||
gContext->curId += id;
|
||||
}
|
||||
|
||||
static void PopIDStack() {
|
||||
gContext->curId.resize(gContext->idStack.back());
|
||||
gContext->idStack.pop_back();
|
||||
}
|
||||
|
||||
bool glass::Begin(const char* name, bool* p_open, ImGuiWindowFlags flags) {
|
||||
PushIDStack(name);
|
||||
return ImGui::Begin(name, p_open, flags);
|
||||
}
|
||||
|
||||
void glass::End() {
|
||||
ImGui::End();
|
||||
PopIDStack();
|
||||
}
|
||||
|
||||
bool glass::BeginChild(const char* str_id, const ImVec2& size, bool border,
|
||||
ImGuiWindowFlags flags) {
|
||||
PushIDStack(str_id);
|
||||
return ImGui::BeginChild(str_id, size, border, flags);
|
||||
}
|
||||
|
||||
void glass::EndChild() {
|
||||
ImGui::EndChild();
|
||||
PopIDStack();
|
||||
}
|
||||
|
||||
bool glass::CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags) {
|
||||
wpi::SmallString<64> openKey;
|
||||
auto [name, id] = wpi::StringRef{label}.split("###");
|
||||
// if no ###id, use name as id
|
||||
if (id.empty()) id = name;
|
||||
openKey = id;
|
||||
openKey += "###open";
|
||||
|
||||
bool* open = GetStorage().GetBoolRef(openKey);
|
||||
*open = ImGui::CollapsingHeader(
|
||||
label, flags | (*open ? ImGuiTreeNodeFlags_DefaultOpen : 0));
|
||||
return *open;
|
||||
}
|
||||
|
||||
bool glass::TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags) {
|
||||
PushIDStack(label);
|
||||
bool* open = GetStorage().GetBoolRef("open");
|
||||
*open = ImGui::TreeNodeEx(
|
||||
label, flags | (*open ? ImGuiTreeNodeFlags_DefaultOpen : 0));
|
||||
if (!*open) PopIDStack();
|
||||
return *open;
|
||||
}
|
||||
|
||||
void glass::TreePop() {
|
||||
ImGui::TreePop();
|
||||
PopIDStack();
|
||||
}
|
||||
|
||||
void glass::PushID(const char* str_id) {
|
||||
PushIDStack(str_id);
|
||||
ImGui::PushID(str_id);
|
||||
}
|
||||
|
||||
void glass::PushID(const char* str_id_begin, const char* str_id_end) {
|
||||
PushIDStack(wpi::StringRef(str_id_begin, str_id_end - str_id_begin));
|
||||
ImGui::PushID(str_id_begin, str_id_end);
|
||||
}
|
||||
|
||||
void glass::PushID(int int_id) {
|
||||
char buf[16];
|
||||
std::snprintf(buf, sizeof(buf), "%d", int_id);
|
||||
PushIDStack(buf);
|
||||
ImGui::PushID(int_id);
|
||||
}
|
||||
|
||||
void glass::PopID() {
|
||||
ImGui::PopID();
|
||||
PopIDStack();
|
||||
}
|
||||
|
||||
bool glass::PopupEditName(const char* label, std::string* name) {
|
||||
bool rv = false;
|
||||
if (ImGui::BeginPopupContextItem(label)) {
|
||||
ImGui::Text("Edit name:");
|
||||
if (ImGui::InputText("##editname", name)) {
|
||||
rv = true;
|
||||
}
|
||||
if (ImGui::Button("Close") || ImGui::IsKeyPressedMap(ImGuiKey_Enter) ||
|
||||
ImGui::IsKeyPressedMap(ImGuiKey_KeyPadEnter)) {
|
||||
ImGui::CloseCurrentPopup();
|
||||
}
|
||||
ImGui::EndPopup();
|
||||
}
|
||||
return rv;
|
||||
}
|
||||
Reference in New Issue
Block a user