[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.
2026-06-21 01:01:43 +00:00 · 2020-09-12 10:55:46 -07:00
parent 727940d847
commit 2a5ca77454
151 changed files with 10386 additions and 4565 deletions
--- a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "HALProvider.h"
+
+#include <glass/Model.h>
+
+#include <algorithm>
+#include <string>
+
+#include <hal/simulation/DriverStationData.h>
+
+using namespace halsimgui;
+
+static bool gDisableOutputsOnDSDisable = true;
+
+bool HALProvider::AreOutputsDisabled() {
+  return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
+}
+
+void HALProvider::DisplayMenu() {
+  ImGui::MenuItem("Disable outputs on DS disable", nullptr,
+                  &gDisableOutputsOnDSDisable, true);
+  ImGui::Separator();
+
+  for (auto&& viewEntry : m_viewEntries) {
+    bool visible = viewEntry->window && viewEntry->window->IsVisible();
+    bool wasVisible = visible;
+    bool exists = viewEntry->modelEntry->exists();
+    ImGui::MenuItem(viewEntry->name.c_str(), nullptr, &visible,
+                    visible || exists);
+    if (!wasVisible && visible) {
+      Show(viewEntry.get(), viewEntry->window);
+    } else if (wasVisible && !visible && viewEntry->window) {
+      viewEntry->window->SetVisible(false);
+    }
+  }
+}
+
+void HALProvider::Update() {
+  Provider::Update();
+
+  // check for visible windows that need displays (typically this is due to
+  // file loading)
+  for (auto&& window : m_windows) {
+    if (!window->IsVisible() || window->HasView()) continue;
+    auto id = window->GetId();
+    auto it = FindViewEntry(id);
+    if (it == m_viewEntries.end() || (*it)->name != id) continue;
+    Show(it->get(), window.get());
+  }
+}
+
+glass::Model* HALProvider::GetModel(wpi::StringRef name) {
+  auto it = FindModelEntry(name);
+  if (it == m_modelEntries.end() || (*it)->name != name) return nullptr;
+  auto entry = it->get();
+
+  // get or create model
+  if (!entry->model) entry->model = entry->createModel();
+  return entry->model.get();
+}
+
+void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
+  // if there's already a window, just show it
+  if (entry->window) {
+    entry->window->SetVisible(true);
+    return;
+  }
+
+  // get or create model
+  if (!entry->modelEntry->model)
+    entry->modelEntry->model = entry->modelEntry->createModel();
+  if (!entry->modelEntry->model) return;
+
+  // the window might exist and we're just not associated to it yet
+  if (!window) window = GetOrAddWindow(entry->name, true);
+  if (!window) return;
+  entry->window = window;
+
+  // create view
+  auto view = entry->createView(window, entry->modelEntry->model.get());
+  if (!view) return;
+  window->SetView(std::move(view));
+
+  entry->window->SetVisible(true);
+}