[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.
2026-06-20 00:51:42 +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/libnt/native/cpp/NTFMS.cpp
+++ b/glass/src/libnt/native/cpp/NTFMS.cpp
@@ -0,0 +1,93 @@
+/*----------------------------------------------------------------------------*/
+/* 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/NTFMS.h"
+
+#include <stdint.h>
+
+#include <wpi/Twine.h>
+#include <wpi/timestamp.h>
+
+using namespace glass;
+
+NTFMSModel::NTFMSModel(wpi::StringRef path)
+    : NTFMSModel{nt::GetDefaultInstance(), path} {}
+
+NTFMSModel::NTFMSModel(NT_Inst inst, wpi::StringRef path)
+    : m_nt{inst},
+      m_gameSpecificMessage{m_nt.GetEntry(path + "/GameSpecificMessage")},
+      m_alliance{m_nt.GetEntry(path + "/IsRedAlliance")},
+      m_station{m_nt.GetEntry(path + "/StationNumber")},
+      m_controlWord{m_nt.GetEntry(path + "/FMSControlData")},
+      m_fmsAttached{"NT_FMS:FMSAttached:" + path},
+      m_dsAttached{"NT_FMS:DSAttached:" + path},
+      m_allianceStationId{"NT_FMS:AllianceStationID:" + path},
+      m_estop{"NT_FMS:EStop:" + path},
+      m_enabled{"NT_FMS:RobotEnabled:" + path},
+      m_test{"NT_FMS:TestMode:" + path},
+      m_autonomous{"NT_FMS:AutonomousMode:" + path} {
+  m_nt.AddListener(m_alliance);
+  m_nt.AddListener(m_station);
+  m_nt.AddListener(m_controlWord);
+
+  m_fmsAttached.SetDigital(true);
+  m_dsAttached.SetDigital(true);
+  m_estop.SetDigital(true);
+  m_enabled.SetDigital(true);
+  m_test.SetDigital(true);
+  m_autonomous.SetDigital(true);
+  Update();
+}
+
+wpi::StringRef NTFMSModel::GetGameSpecificMessage(
+    wpi::SmallVectorImpl<char>& buf) {
+  buf.clear();
+  auto value = nt::GetEntryValue(m_gameSpecificMessage);
+  if (value && value->IsString()) {
+    auto str = value->GetString();
+    buf.append(str.begin(), str.end());
+  }
+  return wpi::StringRef{buf.data(), buf.size()};
+}
+
+void NTFMSModel::Update() {
+  for (auto&& event : m_nt.PollListener()) {
+    if (event.entry == m_alliance) {
+      if (event.value && event.value->IsBoolean()) {
+        int allianceStationId = m_allianceStationId.GetValue();
+        allianceStationId %= 3;
+        // true if red
+        allianceStationId += 3 * (event.value->GetBoolean() ? 0 : 1);
+        m_allianceStationId.SetValue(allianceStationId);
+      }
+    } else if (event.entry == m_station) {
+      if (event.value && event.value->IsDouble()) {
+        int allianceStationId = m_allianceStationId.GetValue();
+        bool isRed = (allianceStationId < 3);
+        // the NT value is 1-indexed
+        m_allianceStationId.SetValue(event.value->GetDouble() - 1 +
+                                     3 * (isRed ? 0 : 1));
+      }
+    } else if (event.entry == m_controlWord) {
+      if (event.value && event.value->IsDouble()) {
+        uint32_t controlWord = event.value->GetDouble();
+        // See HAL_ControlWord definition
+        auto time = wpi::Now();
+        m_enabled.SetValue(((controlWord & 0x01) != 0) ? 1 : 0, time);
+        m_autonomous.SetValue(((controlWord & 0x02) != 0) ? 1 : 0, time);
+        m_test.SetValue(((controlWord & 0x04) != 0) ? 1 : 0, time);
+        m_estop.SetValue(((controlWord & 0x08) != 0) ? 1 : 0, time);
+        m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, time);
+        m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, time);
+      }
+    }
+  }
+}
+
+bool NTFMSModel::Exists() {
+  return m_nt.IsConnected() && nt::GetEntryType(m_controlWord) != NT_UNASSIGNED;
+}