mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +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
610
glass/src/libnt/native/cpp/NetworkTables.cpp
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610
glass/src/libnt/native/cpp/NetworkTables.cpp
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@@ -0,0 +1,610 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "glass/networktables/NetworkTables.h"
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#include <cinttypes>
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#include <cstdio>
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#include <cstring>
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#include <initializer_list>
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#include <memory>
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#include <vector>
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#include <imgui.h>
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#include <networktables/NetworkTableValue.h>
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#include <ntcore_cpp.h>
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#include <wpi/ArrayRef.h>
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#include <wpi/Format.h>
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#include <wpi/SmallString.h>
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#include <wpi/StringRef.h>
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#include <wpi/raw_ostream.h>
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#include "glass/Context.h"
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#include "glass/DataSource.h"
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using namespace glass;
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static std::string BooleanArrayToString(wpi::ArrayRef<int> in) {
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std::string rv;
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wpi::raw_string_ostream os{rv};
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os << '[';
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bool first = true;
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for (auto v : in) {
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if (!first) os << ',';
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first = false;
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if (v)
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os << "true";
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else
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os << "false";
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}
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os << ']';
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return rv;
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}
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static std::string DoubleArrayToString(wpi::ArrayRef<double> in) {
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std::string rv;
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wpi::raw_string_ostream os{rv};
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os << '[';
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bool first = true;
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for (auto v : in) {
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if (!first) os << ',';
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first = false;
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os << wpi::format("%.6f", v);
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}
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os << ']';
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return rv;
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}
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static std::string StringArrayToString(wpi::ArrayRef<std::string> in) {
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std::string rv;
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wpi::raw_string_ostream os{rv};
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os << '[';
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bool first = true;
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for (auto&& v : in) {
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if (!first) os << ',';
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first = false;
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os << '"';
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os.write_escaped(v);
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os << '"';
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}
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os << ']';
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return rv;
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}
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NetworkTablesModel::NetworkTablesModel()
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: NetworkTablesModel{nt::GetDefaultInstance()} {}
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NetworkTablesModel::NetworkTablesModel(NT_Inst inst)
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: m_inst{inst}, m_poller{nt::CreateEntryListenerPoller(inst)} {
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nt::AddPolledEntryListener(m_poller, "",
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NT_NOTIFY_LOCAL | NT_NOTIFY_NEW |
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NT_NOTIFY_UPDATE | NT_NOTIFY_DELETE |
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NT_NOTIFY_FLAGS | NT_NOTIFY_IMMEDIATE);
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}
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NetworkTablesModel::~NetworkTablesModel() {
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nt::DestroyEntryListenerPoller(m_poller);
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}
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NetworkTablesModel::Entry::Entry(nt::EntryNotification&& event)
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: entry{event.entry},
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name{std::move(event.name)},
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value{std::move(event.value)},
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flags{nt::GetEntryFlags(event.entry)} {
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UpdateValue();
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}
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void NetworkTablesModel::Entry::UpdateValue() {
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switch (value->type()) {
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case NT_BOOLEAN:
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if (!source)
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source = std::make_unique<DataSource>(wpi::Twine{"NT:"} + name);
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source->SetValue(value->GetBoolean() ? 1 : 0);
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source->SetDigital(true);
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break;
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case NT_DOUBLE:
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if (!source)
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source = std::make_unique<DataSource>(wpi::Twine{"NT:"} + name);
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source->SetValue(value->GetDouble());
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source->SetDigital(false);
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break;
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case NT_BOOLEAN_ARRAY:
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valueStr = BooleanArrayToString(value->GetBooleanArray());
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break;
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case NT_DOUBLE_ARRAY:
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valueStr = DoubleArrayToString(value->GetDoubleArray());
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break;
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case NT_STRING_ARRAY:
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valueStr = StringArrayToString(value->GetStringArray());
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break;
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default:
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break;
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}
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}
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void NetworkTablesModel::Update() {
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bool timedOut = false;
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bool updateTree = false;
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for (auto&& event : nt::PollEntryListener(m_poller, 0, &timedOut)) {
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auto& entry = m_entries[event.entry];
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if (event.flags & NT_NOTIFY_NEW) {
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if (!entry) {
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entry = std::make_unique<Entry>(std::move(event));
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m_sortedEntries.emplace_back(entry.get());
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updateTree = true;
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}
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}
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if (!entry) continue;
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if (event.flags & NT_NOTIFY_DELETE) {
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auto it = std::find(m_sortedEntries.begin(), m_sortedEntries.end(),
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entry.get());
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// will be removed completely below
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if (it != m_sortedEntries.end()) *it = nullptr;
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m_entries.erase(event.entry);
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updateTree = true;
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continue;
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}
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if (event.flags & NT_NOTIFY_UPDATE) {
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entry->value = std::move(event.value);
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entry->UpdateValue();
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}
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if (event.flags & NT_NOTIFY_FLAGS) {
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entry->flags = nt::GetEntryFlags(event.entry);
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}
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}
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// shortcut common case (updates)
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if (!updateTree) return;
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// remove deleted entries
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m_sortedEntries.erase(
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std::remove(m_sortedEntries.begin(), m_sortedEntries.end(), nullptr),
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m_sortedEntries.end());
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// sort by name
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std::sort(m_sortedEntries.begin(), m_sortedEntries.end(),
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[](const auto& a, const auto& b) { return a->name < b->name; });
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// rebuild tree
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m_root.clear();
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wpi::SmallVector<wpi::StringRef, 16> parts;
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for (auto& entry : m_sortedEntries) {
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parts.clear();
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wpi::StringRef{entry->name}.split(parts, '/', -1, false);
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// get to leaf
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auto nodes = &m_root;
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for (auto part : wpi::ArrayRef(parts.begin(), parts.end()).drop_back()) {
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auto it =
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std::find_if(nodes->begin(), nodes->end(),
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[&](const auto& node) { return node.name == part; });
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if (it == nodes->end()) {
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nodes->emplace_back(part);
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// path is from the beginning of the string to the end of the current
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// part; this works because part is a reference to the internals of
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// entry->name
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nodes->back().path.assign(entry->name.data(),
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part.end() - entry->name.data());
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it = nodes->end() - 1;
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}
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nodes = &it->children;
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}
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auto it = std::find_if(nodes->begin(), nodes->end(), [&](const auto& node) {
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return node.name == parts.back();
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});
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if (it == nodes->end()) {
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nodes->emplace_back(parts.back());
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// no need to set path, as it's identical to entry->name
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it = nodes->end() - 1;
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}
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it->entry = entry;
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}
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}
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bool NetworkTablesModel::Exists() { return nt::IsConnected(m_inst); }
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static std::shared_ptr<nt::Value> StringToBooleanArray(wpi::StringRef in) {
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in = in.trim();
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if (in.empty())
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return nt::NetworkTableValue::MakeBooleanArray(
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std::initializer_list<bool>{});
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if (in.front() == '[') in = in.drop_front();
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if (in.back() == ']') in = in.drop_back();
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in = in.trim();
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wpi::SmallVector<wpi::StringRef, 16> inSplit;
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wpi::SmallVector<int, 16> out;
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in.split(inSplit, ',', -1, false);
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for (auto val : inSplit) {
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val = val.trim();
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if (val.equals_lower("true")) {
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out.emplace_back(1);
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} else if (val.equals_lower("false")) {
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out.emplace_back(0);
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} else {
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wpi::errs() << "GUI: NetworkTables: Could not understand value '" << val
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<< "'\n";
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return nullptr;
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}
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}
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return nt::NetworkTableValue::MakeBooleanArray(out);
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}
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static std::shared_ptr<nt::Value> StringToDoubleArray(wpi::StringRef in) {
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in = in.trim();
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if (in.empty())
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return nt::NetworkTableValue::MakeBooleanArray(
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std::initializer_list<bool>{});
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if (in.front() == '[') in = in.drop_front();
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if (in.back() == ']') in = in.drop_back();
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in = in.trim();
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wpi::SmallVector<wpi::StringRef, 16> inSplit;
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wpi::SmallVector<double, 16> out;
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in.split(inSplit, ',', -1, false);
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for (auto val : inSplit) {
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val = val.trim();
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wpi::SmallString<32> valStr = val;
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double d;
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if (std::sscanf(valStr.c_str(), "%lf", &d) == 1) {
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out.emplace_back(d);
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} else {
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wpi::errs() << "GUI: NetworkTables: Could not understand value '" << val
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<< "'\n";
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return nullptr;
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}
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}
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return nt::NetworkTableValue::MakeDoubleArray(out);
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}
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static int fromxdigit(char ch) {
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if (ch >= 'a' && ch <= 'f')
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return (ch - 'a' + 10);
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else if (ch >= 'A' && ch <= 'F')
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return (ch - 'A' + 10);
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else
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return ch - '0';
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}
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static wpi::StringRef UnescapeString(wpi::StringRef source,
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wpi::SmallVectorImpl<char>& buf) {
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assert(source.size() >= 2 && source.front() == '"' && source.back() == '"');
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buf.clear();
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buf.reserve(source.size() - 2);
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for (auto s = source.begin() + 1, end = source.end() - 1; s != end; ++s) {
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if (*s != '\\') {
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buf.push_back(*s);
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continue;
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}
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switch (*++s) {
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case 't':
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buf.push_back('\t');
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break;
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case 'n':
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buf.push_back('\n');
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break;
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case 'x': {
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if (!isxdigit(*(s + 1))) {
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buf.push_back('x'); // treat it like a unknown escape
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break;
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}
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int ch = fromxdigit(*++s);
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if (std::isxdigit(*(s + 1))) {
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ch <<= 4;
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ch |= fromxdigit(*++s);
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}
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buf.push_back(static_cast<char>(ch));
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break;
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}
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default:
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buf.push_back(*s);
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break;
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}
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}
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return wpi::StringRef{buf.data(), buf.size()};
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}
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static std::shared_ptr<nt::Value> StringToStringArray(wpi::StringRef in) {
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in = in.trim();
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if (in.empty())
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return nt::NetworkTableValue::MakeStringArray(
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std::initializer_list<std::string>{});
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if (in.front() == '[') in = in.drop_front();
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if (in.back() == ']') in = in.drop_back();
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in = in.trim();
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wpi::SmallVector<wpi::StringRef, 16> inSplit;
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std::vector<std::string> out;
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wpi::SmallString<32> buf;
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in.split(inSplit, ',', -1, false);
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for (auto val : inSplit) {
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val = val.trim();
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if (val.empty()) continue;
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if (val.front() != '"' || val.back() != '"') {
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wpi::errs() << "GUI: NetworkTables: Could not understand value '" << val
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<< "'\n";
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return nullptr;
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}
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out.emplace_back(UnescapeString(val, buf));
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}
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return nt::NetworkTableValue::MakeStringArray(std::move(out));
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}
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static void EmitEntryValueReadonly(NetworkTablesModel::Entry& entry) {
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auto& val = entry.value;
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if (!val) return;
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switch (val->type()) {
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case NT_BOOLEAN:
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ImGui::LabelText("boolean", "%s", val->GetBoolean() ? "true" : "false");
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break;
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case NT_DOUBLE:
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ImGui::LabelText("double", "%.6f", val->GetDouble());
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break;
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case NT_STRING: {
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// GetString() comes from a std::string, so it's null terminated
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ImGui::LabelText("string", "%s", val->GetString().data());
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break;
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}
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case NT_BOOLEAN_ARRAY:
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ImGui::LabelText("boolean[]", "%s", entry.valueStr.c_str());
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break;
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case NT_DOUBLE_ARRAY:
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ImGui::LabelText("double[]", "%s", entry.valueStr.c_str());
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break;
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case NT_STRING_ARRAY:
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ImGui::LabelText("string[]", "%s", entry.valueStr.c_str());
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break;
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case NT_RAW:
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ImGui::LabelText("raw", "[...]");
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break;
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case NT_RPC:
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ImGui::LabelText("rpc", "[...]");
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break;
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default:
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ImGui::LabelText("other", "?");
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break;
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}
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}
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static constexpr size_t kTextBufferSize = 4096;
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static char* GetTextBuffer(wpi::StringRef in) {
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static char textBuffer[kTextBufferSize];
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size_t len = (std::min)(in.size(), kTextBufferSize - 1);
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std::memcpy(textBuffer, in.data(), len);
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textBuffer[len] = '\0';
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return textBuffer;
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}
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static void EmitEntryValueEditable(NetworkTablesModel::Entry& entry) {
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auto& val = entry.value;
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if (!val) return;
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ImGui::PushID(entry.name.c_str());
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switch (val->type()) {
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case NT_BOOLEAN: {
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static const char* boolOptions[] = {"false", "true"};
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int v = val->GetBoolean() ? 1 : 0;
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if (ImGui::Combo("boolean", &v, boolOptions, 2))
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nt::SetEntryValue(entry.entry, nt::NetworkTableValue::MakeBoolean(v));
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break;
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}
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case NT_DOUBLE: {
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double v = val->GetDouble();
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if (ImGui::InputDouble("double", &v, 0, 0, "%.6f",
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ImGuiInputTextFlags_EnterReturnsTrue))
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nt::SetEntryValue(entry.entry, nt::NetworkTableValue::MakeDouble(v));
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break;
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}
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case NT_STRING: {
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char* v = GetTextBuffer(val->GetString());
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if (ImGui::InputText("string", v, kTextBufferSize,
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ImGuiInputTextFlags_EnterReturnsTrue))
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nt::SetEntryValue(entry.entry, nt::NetworkTableValue::MakeString(v));
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break;
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}
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case NT_BOOLEAN_ARRAY: {
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char* v = GetTextBuffer(entry.valueStr);
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if (ImGui::InputText("boolean[]", v, kTextBufferSize,
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ImGuiInputTextFlags_EnterReturnsTrue)) {
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if (auto outv = StringToBooleanArray(v))
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nt::SetEntryValue(entry.entry, std::move(outv));
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}
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break;
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}
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case NT_DOUBLE_ARRAY: {
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char* v = GetTextBuffer(entry.valueStr);
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if (ImGui::InputText("double[]", v, kTextBufferSize,
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ImGuiInputTextFlags_EnterReturnsTrue)) {
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if (auto outv = StringToDoubleArray(v))
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nt::SetEntryValue(entry.entry, std::move(outv));
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}
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break;
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||||
}
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case NT_STRING_ARRAY: {
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char* v = GetTextBuffer(entry.valueStr);
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if (ImGui::InputText("string[]", v, kTextBufferSize,
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ImGuiInputTextFlags_EnterReturnsTrue)) {
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if (auto outv = StringToStringArray(v))
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nt::SetEntryValue(entry.entry, std::move(outv));
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}
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||||
break;
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||||
}
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||||
case NT_RAW:
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ImGui::LabelText("raw", "[...]");
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break;
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||||
case NT_RPC:
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ImGui::LabelText("rpc", "[...]");
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break;
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default:
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ImGui::LabelText("other", "?");
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break;
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}
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ImGui::PopID();
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}
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static void EmitEntry(NetworkTablesModel::Entry& entry, const char* name,
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NetworkTablesFlags flags) {
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if (entry.source) {
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ImGui::Selectable(name);
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entry.source->EmitDrag();
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||||
} else {
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||||
ImGui::Text("%s", name);
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}
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ImGui::NextColumn();
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||||
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||||
if (flags & NetworkTablesFlags_ReadOnly)
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EmitEntryValueReadonly(entry);
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else
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EmitEntryValueEditable(entry);
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ImGui::NextColumn();
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||||
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if (flags & NetworkTablesFlags_ShowFlags) {
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if ((entry.flags & NT_PERSISTENT) != 0)
|
||||
ImGui::Text("Persistent");
|
||||
else if (entry.flags != 0)
|
||||
ImGui::Text("%02x", entry.flags);
|
||||
ImGui::NextColumn();
|
||||
}
|
||||
|
||||
if (flags & NetworkTablesFlags_ShowTimestamp) {
|
||||
if (entry.value)
|
||||
ImGui::Text("%" PRIu64, entry.value->last_change());
|
||||
else
|
||||
ImGui::TextUnformatted("");
|
||||
ImGui::NextColumn();
|
||||
}
|
||||
ImGui::Separator();
|
||||
}
|
||||
|
||||
static void EmitTree(const std::vector<NetworkTablesModel::TreeNode>& tree,
|
||||
NetworkTablesFlags flags) {
|
||||
for (auto&& node : tree) {
|
||||
if (node.entry) {
|
||||
EmitEntry(*node.entry, node.name.c_str(), flags);
|
||||
}
|
||||
|
||||
if (!node.children.empty()) {
|
||||
bool open =
|
||||
TreeNodeEx(node.name.c_str(), ImGuiTreeNodeFlags_SpanFullWidth);
|
||||
ImGui::NextColumn();
|
||||
ImGui::NextColumn();
|
||||
if (flags & NetworkTablesFlags_ShowFlags) ImGui::NextColumn();
|
||||
if (flags & NetworkTablesFlags_ShowTimestamp) ImGui::NextColumn();
|
||||
ImGui::Separator();
|
||||
if (open) {
|
||||
EmitTree(node.children, flags);
|
||||
TreePop();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void glass::DisplayNetworkTables(NetworkTablesModel* model,
|
||||
NetworkTablesFlags flags) {
|
||||
auto inst = model->GetInstance();
|
||||
|
||||
if (flags & NetworkTablesFlags_ShowConnections) {
|
||||
if (CollapsingHeader("Connections")) {
|
||||
ImGui::Columns(4, "connections");
|
||||
ImGui::Text("Id");
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("Address");
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("Updated");
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("Proto");
|
||||
ImGui::NextColumn();
|
||||
ImGui::Separator();
|
||||
for (auto&& i : nt::GetConnections(inst)) {
|
||||
ImGui::Text("%s", i.remote_id.c_str());
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("%s", i.remote_ip.c_str());
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("%llu",
|
||||
static_cast<unsigned long long>( // NOLINT(runtime/int)
|
||||
i.last_update));
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("%d.%d", i.protocol_version >> 8,
|
||||
i.protocol_version & 0xff);
|
||||
ImGui::NextColumn();
|
||||
}
|
||||
ImGui::Columns();
|
||||
}
|
||||
|
||||
if (!CollapsingHeader("Values", ImGuiTreeNodeFlags_DefaultOpen)) return;
|
||||
}
|
||||
|
||||
const bool showFlags = (flags & NetworkTablesFlags_ShowFlags);
|
||||
const bool showTimestamp = (flags & NetworkTablesFlags_ShowTimestamp);
|
||||
|
||||
static bool first = true;
|
||||
ImGui::Columns(2 + (showFlags ? 1 : 0) + (showTimestamp ? 1 : 0), "values");
|
||||
if (first) ImGui::SetColumnWidth(-1, 0.5f * ImGui::GetWindowWidth());
|
||||
ImGui::Text("Name");
|
||||
ImGui::NextColumn();
|
||||
ImGui::Text("Value");
|
||||
ImGui::NextColumn();
|
||||
if (showFlags) {
|
||||
if (first) ImGui::SetColumnWidth(-1, 12 * ImGui::GetFontSize());
|
||||
ImGui::Text("Flags");
|
||||
ImGui::NextColumn();
|
||||
}
|
||||
if (showTimestamp) {
|
||||
ImGui::Text("Changed");
|
||||
ImGui::NextColumn();
|
||||
}
|
||||
ImGui::Separator();
|
||||
first = false;
|
||||
|
||||
if (flags & NetworkTablesFlags_TreeView) {
|
||||
EmitTree(model->GetTreeRoot(), flags);
|
||||
} else {
|
||||
for (auto entry : model->GetEntries()) {
|
||||
EmitEntry(*entry, entry->name.c_str(), flags);
|
||||
}
|
||||
}
|
||||
ImGui::Columns();
|
||||
}
|
||||
|
||||
void NetworkTablesView::Display() {
|
||||
if (ImGui::BeginPopupContextItem()) {
|
||||
auto& storage = GetStorage();
|
||||
auto pTreeView = storage.GetBoolRef(
|
||||
"tree", m_defaultFlags & NetworkTablesFlags_TreeView);
|
||||
auto pShowConnections = storage.GetBoolRef(
|
||||
"connections", m_defaultFlags & NetworkTablesFlags_ShowConnections);
|
||||
auto pShowFlags = storage.GetBoolRef(
|
||||
"flags", m_defaultFlags & NetworkTablesFlags_ShowFlags);
|
||||
auto pShowTimestamp = storage.GetBoolRef(
|
||||
"timestamp", m_defaultFlags & NetworkTablesFlags_ShowTimestamp);
|
||||
|
||||
ImGui::MenuItem("Tree View", "", pTreeView);
|
||||
ImGui::MenuItem("Show Connections", "", pShowConnections);
|
||||
ImGui::MenuItem("Show Flags", "", pShowFlags);
|
||||
ImGui::MenuItem("Show Timestamp", "", pShowTimestamp);
|
||||
|
||||
m_flags &=
|
||||
~(NetworkTablesFlags_TreeView | NetworkTablesFlags_ShowConnections |
|
||||
NetworkTablesFlags_ShowFlags | NetworkTablesFlags_ShowTimestamp);
|
||||
m_flags |= (*pTreeView ? NetworkTablesFlags_TreeView : 0) |
|
||||
(*pShowConnections ? NetworkTablesFlags_ShowConnections : 0) |
|
||||
(*pShowFlags ? NetworkTablesFlags_ShowFlags : 0) |
|
||||
(*pShowTimestamp ? NetworkTablesFlags_ShowTimestamp : 0);
|
||||
ImGui::EndPopup();
|
||||
}
|
||||
|
||||
DisplayNetworkTables(m_model, m_flags);
|
||||
}
|
||||
Reference in New Issue
Block a user