[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.
2026-06-19 00:41:43 +00:00 · 2020-09-12 10:55:46 -07:00
parent 727940d847
commit 2a5ca77454
151 changed files with 10386 additions and 4565 deletions
--- a/glass/src/lib/native/cpp/hardware/DIO.cpp
+++ b/glass/src/lib/native/cpp/hardware/DIO.cpp
@@ -0,0 +1,118 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019-2020 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/DIO.h"
+
+#include <imgui.h>
+
+#include "glass/DataSource.h"
+#include "glass/hardware/Encoder.h"
+#include "glass/support/IniSaverInfo.h"
+
+using namespace glass;
+
+static void LabelSimDevice(const char* name, const char* simDeviceName) {
+  ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+  ImGui::LabelText(name, "%s", simDeviceName);
+  ImGui::PopStyleColor();
+}
+
+void DisplayDIOImpl(DIOModel* model, int index, bool outputsEnabled) {
+  auto dpwm = model->GetDPWM();
+  auto dutyCycle = model->GetDutyCycle();
+  auto encoder = model->GetEncoder();
+
+  auto dioData = model->GetValueData();
+  auto dpwmData = dpwm ? dpwm->GetValueData() : nullptr;
+  auto dutyCycleData = dutyCycle ? dutyCycle->GetValueData() : nullptr;
+
+  bool exists = model->Exists();
+  auto& info = dioData->GetNameInfo();
+  char label[128];
+  if (exists && dpwmData) {
+    dpwmData->GetNameInfo().GetLabel(label, sizeof(label), "PWM", index);
+    if (auto simDevice = dpwm->GetSimDevice()) {
+      LabelSimDevice(label, simDevice);
+    } else {
+      dpwmData->LabelText(label, "%0.3f", dpwmData->GetValue());
+    }
+  } else if (exists && encoder) {
+    info.GetLabel(label, sizeof(label), " In", index);
+    if (auto simDevice = encoder->GetSimDevice()) {
+      LabelSimDevice(label, simDevice);
+    } else {
+      ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+      ImGui::LabelText(label, "Encoder[%d,%d]", encoder->GetChannelA(),
+                       encoder->GetChannelB());
+      ImGui::PopStyleColor();
+    }
+  } else if (exists && dutyCycleData) {
+    dutyCycleData->GetNameInfo().GetLabel(label, sizeof(label), "Dty", index);
+    if (auto simDevice = dutyCycle->GetSimDevice()) {
+      LabelSimDevice(label, simDevice);
+    } else {
+      double val = dutyCycleData->GetValue();
+      if (dutyCycleData->InputDouble(label, &val)) {
+        dutyCycle->SetValue(val);
+      }
+    }
+  } else {
+    const char* name = model->GetName();
+    if (name[0] != '\0')
+      info.GetLabel(label, sizeof(label), name);
+    else
+      info.GetLabel(label, sizeof(label), model->IsInput() ? " In" : "Out",
+                    index);
+    if (auto simDevice = model->GetSimDevice()) {
+      LabelSimDevice(label, simDevice);
+    } else {
+      if (!exists) {
+        ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+        dioData->LabelText(label, "unknown");
+        ImGui::PopStyleColor();
+      } else if (model->IsReadOnly()) {
+        dioData->LabelText(
+            label, "%s",
+            outputsEnabled ? (dioData->GetValue() != 0 ? "1 (high)" : "0 (low)")
+                           : "1 (disabled)");
+
+      } else {
+        static const char* options[] = {"0 (low)", "1 (high)"};
+        int val = dioData->GetValue() != 0 ? 1 : 0;
+        if (dioData->Combo(label, &val, options, 2)) {
+          model->SetValue(val);
+        }
+      }
+    }
+  }
+  if (info.PopupEditName(index)) {
+    if (dpwmData) dpwmData->SetName(info.GetName());
+    if (dutyCycleData) dutyCycleData->SetName(info.GetName());
+  }
+}
+
+void glass::DisplayDIO(DIOModel* model, int index, bool outputsEnabled) {
+  ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
+  DisplayDIOImpl(model, index, outputsEnabled);
+  ImGui::PopItemWidth();
+}
+
+void glass::DisplayDIOs(DIOsModel* model, bool outputsEnabled,
+                        wpi::StringRef noneMsg) {
+  bool hasAny = false;
+
+  ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
+  model->ForEachDIO([&](DIOModel& dio, int i) {
+    hasAny = true;
+    ImGui::PushID(i);
+    DisplayDIOImpl(&dio, i, outputsEnabled);
+    ImGui::PopID();
+  });
+  ImGui::PopItemWidth();
+  if (!hasAny && !noneMsg.empty())
+    ImGui::TextUnformatted(noneMsg.begin(), noneMsg.end());
+}