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https://github.com/wpilibsuite/allwpilib
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[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
@@ -7,337 +7,22 @@
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#include "HALSimGui.h"
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#include <algorithm>
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#include <hal/simulation/DriverStationData.h>
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <wpi/StringMap.h>
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#include <wpi/raw_ostream.h>
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#include <wpigui.h>
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using namespace halsimgui;
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namespace gui = wpi::gui;
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glass::MainMenuBar HALSimGui::mainMenu;
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glass::WindowManager HALSimGui::manager{"SimWindow"};
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HALProvider HALSimGui::halProvider{"HALProvider"};
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glass::NetworkTablesProvider HALSimGui::ntProvider{"NTProvider"};
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namespace {
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struct WindowInfo {
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WindowInfo() = default;
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explicit WindowInfo(const char* name_) : name{name_} {}
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WindowInfo(const char* name_, std::function<void()> display_,
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ImGuiWindowFlags flags_)
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: name{name_}, display{std::move(display_)}, flags{flags_} {}
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void HALSimGui::GlobalInit() {
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manager.GlobalInit();
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halProvider.GlobalInit();
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ntProvider.GlobalInit();
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std::string name;
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std::function<void()> display;
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ImGuiWindowFlags flags = 0;
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bool visible = true;
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bool enabled = true;
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ImGuiCond posCond = 0;
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ImGuiCond sizeCond = 0;
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ImVec2 pos;
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ImVec2 size;
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bool setPadding = false;
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ImVec2 padding;
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};
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} // namespace
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wpi::gui::AddLateExecute([] { mainMenu.Display(); });
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static std::vector<WindowInfo> gWindows;
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static wpi::StringMap<int> gWindowMap; // index into gWindows
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static std::vector<int> gSortedWindows; // index into gWindows
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static std::vector<std::function<void()>> gOptionMenus;
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static std::vector<std::function<void()>> gMenus;
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static bool gDisableOutputsOnDSDisable = true;
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// read/write open state to ini file
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static void* SimWindowsReadOpen(ImGuiContext* ctx,
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ImGuiSettingsHandler* handler,
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const char* name) {
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if (wpi::StringRef{name} == "GLOBAL") return &gDisableOutputsOnDSDisable;
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int index = gWindowMap.try_emplace(name, gWindows.size()).first->second;
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if (index == static_cast<int>(gWindows.size())) {
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gSortedWindows.push_back(index);
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gWindows.emplace_back(name);
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std::sort(gSortedWindows.begin(), gSortedWindows.end(),
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[](int a, int b) { return gWindows[a].name < gWindows[b].name; });
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}
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return &gWindows[index];
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glass::AddStandardNetworkTablesViews(ntProvider);
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}
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static void SimWindowsReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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void* entry, const char* lineStr) {
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wpi::StringRef line{lineStr};
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auto [name, value] = line.split('=');
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name = name.trim();
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value = value.trim();
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if (entry == &gDisableOutputsOnDSDisable) {
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int num;
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if (value.getAsInteger(10, num)) return;
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if (name == "disableOutputsOnDS") {
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gDisableOutputsOnDSDisable = num;
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}
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return;
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}
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auto element = static_cast<WindowInfo*>(entry);
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if (name == "visible") {
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int num;
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if (value.getAsInteger(10, num)) return;
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element->visible = num;
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} else if (name == "enabled") {
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int num;
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if (value.getAsInteger(10, num)) return;
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element->enabled = num;
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}
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}
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static void SimWindowsWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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ImGuiTextBuffer* out_buf) {
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out_buf->appendf("[SimWindow][GLOBAL]\ndisableOutputsOnDS=%d\n\n",
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gDisableOutputsOnDSDisable ? 1 : 0);
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for (auto&& window : gWindows)
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out_buf->appendf("[SimWindow][%s]\nvisible=%d\nenabled=%d\n\n",
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window.name.c_str(), window.visible ? 1 : 0,
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window.enabled ? 1 : 0);
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}
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void HALSimGui::Add(std::function<void()> initialize) {
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gui::AddInit(std::move(initialize));
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}
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void HALSimGui::AddExecute(std::function<void()> execute) {
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gui::AddEarlyExecute(std::move(execute));
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}
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void HALSimGui::AddWindow(const char* name, std::function<void()> display,
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int flags) {
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if (display) {
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int index = gWindowMap.try_emplace(name, gWindows.size()).first->second;
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if (index < static_cast<int>(gWindows.size())) {
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if (gWindows[index].display) {
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wpi::errs() << "halsim_gui: ignoring duplicate window '" << name
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<< "'\n";
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} else {
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gWindows[index].display = display;
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gWindows[index].flags = flags;
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}
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return;
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}
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gSortedWindows.push_back(index);
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gWindows.emplace_back(name, std::move(display),
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static_cast<ImGuiWindowFlags>(flags));
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std::sort(gSortedWindows.begin(), gSortedWindows.end(),
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[](int a, int b) { return gWindows[a].name < gWindows[b].name; });
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}
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}
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void HALSimGui::AddMainMenu(std::function<void()> menu) {
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if (menu) gMenus.emplace_back(std::move(menu));
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}
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void HALSimGui::AddOptionMenu(std::function<void()> menu) {
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if (menu) gOptionMenus.emplace_back(std::move(menu));
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}
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void HALSimGui::SetWindowVisibility(const char* name,
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WindowVisibility visibility) {
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auto it = gWindowMap.find(name);
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if (it == gWindowMap.end()) return;
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auto& window = gWindows[it->second];
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switch (visibility) {
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case kHide:
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window.visible = false;
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window.enabled = true;
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break;
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case kShow:
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window.visible = true;
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window.enabled = true;
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break;
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case kDisabled:
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window.enabled = false;
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break;
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}
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}
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void HALSimGui::SetDefaultWindowPos(const char* name, float x, float y) {
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auto it = gWindowMap.find(name);
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if (it == gWindowMap.end()) return;
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auto& window = gWindows[it->second];
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window.posCond = ImGuiCond_FirstUseEver;
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window.pos = ImVec2{x, y};
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}
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void HALSimGui::SetDefaultWindowSize(const char* name, float width,
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float height) {
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auto it = gWindowMap.find(name);
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if (it == gWindowMap.end()) return;
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auto& window = gWindows[it->second];
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window.sizeCond = ImGuiCond_FirstUseEver;
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window.size = ImVec2{width, height};
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}
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void HALSimGui::SetWindowPadding(const char* name, float x, float y) {
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auto it = gWindowMap.find(name);
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if (it == gWindowMap.end()) return;
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auto& window = gWindows[it->second];
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window.setPadding = true;
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window.padding = ImVec2{x, y};
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}
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bool HALSimGui::AreOutputsDisabled() {
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return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
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}
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void HALSimGui::GlobalInit() { gui::CreateContext(); }
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bool HALSimGui::Initialize() {
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gui::AddInit([] {
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// Hook ini handler to save settings
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ImGuiSettingsHandler iniHandler;
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iniHandler.TypeName = "SimWindow";
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iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
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iniHandler.ReadOpenFn = SimWindowsReadOpen;
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iniHandler.ReadLineFn = SimWindowsReadLine;
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iniHandler.WriteAllFn = SimWindowsWriteAll;
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ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
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});
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gui::AddWindowScaler([](float windowScale) {
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// scale default window positions
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for (auto&& window : gWindows) {
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if ((window.posCond & ImGuiCond_FirstUseEver) != 0) {
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window.pos.x *= windowScale;
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window.pos.y *= windowScale;
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window.size.x *= windowScale;
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window.size.y *= windowScale;
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}
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}
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});
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gui::AddLateExecute([] {
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{
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ImGui::BeginMainMenuBar();
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if (ImGui::BeginMenu("Options")) {
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ImGui::MenuItem("Disable outputs on DS disable", nullptr,
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&gDisableOutputsOnDSDisable, true);
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for (auto&& menu : gOptionMenus) {
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if (menu) menu();
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}
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ImGui::EndMenu();
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}
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gui::EmitViewMenu();
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if (ImGui::BeginMenu("Window")) {
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for (auto&& windowIndex : gSortedWindows) {
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auto& window = gWindows[windowIndex];
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ImGui::MenuItem(window.name.c_str(), nullptr, &window.visible,
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window.enabled);
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}
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ImGui::EndMenu();
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}
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for (auto&& menu : gMenus) {
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if (menu) menu();
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}
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#if 0
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char str[64];
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std::snprintf(str, sizeof(str), "%.3f ms/frame (%.1f FPS)",
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1000.0f / ImGui::GetIO().Framerate,
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ImGui::GetIO().Framerate);
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ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x -
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10);
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ImGui::Text("%s", str);
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#endif
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ImGui::EndMainMenuBar();
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}
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for (auto&& window : gWindows) {
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if (window.display && window.visible && window.enabled) {
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if (window.posCond != 0)
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ImGui::SetNextWindowPos(window.pos, window.posCond);
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if (window.sizeCond != 0)
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ImGui::SetNextWindowSize(window.size, window.sizeCond);
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if (window.setPadding)
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ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, window.padding);
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if (ImGui::Begin(window.name.c_str(), &window.visible, window.flags))
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window.display();
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ImGui::End();
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if (window.setPadding) ImGui::PopStyleVar();
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}
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}
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});
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if (!gui::Initialize("Simulation GUI", 1280, 720)) return false;
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return true;
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}
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void HALSimGui::Main(void*) {
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gui::Main();
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gui::DestroyContext();
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}
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void HALSimGui::Exit(void*) { gui::Exit(); }
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extern "C" {
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void HALSIMGUI_Add(void* param, void (*initialize)(void*)) {
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if (initialize) {
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HALSimGui::Add([=] { initialize(param); });
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}
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}
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void HALSIMGUI_AddExecute(void* param, void (*execute)(void*)) {
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if (execute) {
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HALSimGui::AddExecute([=] { execute(param); });
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}
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}
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void HALSIMGUI_AddWindow(const char* name, void* param, void (*display)(void*),
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int32_t flags) {
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if (display) {
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HALSimGui::AddWindow(
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name, [=] { display(param); }, flags);
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}
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}
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void HALSIMGUI_AddMainMenu(void* param, void (*menu)(void*)) {
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if (menu) {
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HALSimGui::AddMainMenu([=] { menu(param); });
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}
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}
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void HALSIMGUI_AddOptionMenu(void* param, void (*menu)(void*)) {
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if (menu) {
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HALSimGui::AddOptionMenu([=] { menu(param); });
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}
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}
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void HALSIMGUI_SetWindowVisibility(const char* name, int32_t visibility) {
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HALSimGui::SetWindowVisibility(
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name, static_cast<HALSimGui::WindowVisibility>(visibility));
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}
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void HALSIMGUI_SetDefaultWindowPos(const char* name, float x, float y) {
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HALSimGui::SetDefaultWindowPos(name, x, y);
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}
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void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
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float height) {
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HALSimGui::SetDefaultWindowSize(name, width, height);
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}
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void HALSIMGUI_SetWindowPadding(const char* name, float x, float y) {
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HALSimGui::SetDefaultWindowSize(name, x, y);
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}
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int HALSIMGUI_AreOutputsDisabled(void) {
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return HALSimGui::AreOutputsDisabled();
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}
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} // extern "C"
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