[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.

simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp

@@ -0,0 +1,139 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "RoboRioSimGui.h"
+
+#include <glass/hardware/RoboRio.h>
+
+#include <memory>
+
+#include <hal/simulation/RoboRioData.h>
+
+#include "HALDataSource.h"
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+namespace {
+HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioFPGAButton, "Rio User Button");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioVInVoltage, "Rio Input Voltage");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioVInCurrent, "Rio Input Current");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserVoltage6V, "Rio 6V Voltage");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserCurrent6V, "Rio 6V Current");
+HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive6V, "Rio 6V Active");
+HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults6V, "Rio 6V Faults");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserVoltage5V, "Rio 5V Voltage");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserCurrent5V, "Rio 5V Current");
+HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive5V, "Rio 5V Active");
+HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults5V, "Rio 5V Faults");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserVoltage3V3, "Rio 3.3V Voltage");
+HALSIMGUI_DATASOURCE_DOUBLE(RoboRioUserCurrent3V3, "Rio 3.3V Current");
+HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive3V3, "Rio 3.3V Active");
+HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults3V3, "Rio 3.3V Faults");
+
+class RoboRioUser6VRailSimModel : public glass::RoboRioRailModel {
+ public:
+  void Update() override {}
+  bool Exists() override { return true; }
+  glass::DataSource* GetVoltageData() override { return &m_voltage; }
+  glass::DataSource* GetCurrentData() override { return &m_current; }
+  glass::DataSource* GetActiveData() override { return &m_active; }
+  glass::DataSource* GetFaultsData() override { return &m_faults; }
+
+  void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage6V(val); }
+  void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent6V(val); }
+  void SetActive(bool val) override { HALSIM_SetRoboRioUserActive6V(val); }
+  void SetFaults(int val) override { HALSIM_SetRoboRioUserFaults6V(val); }
+
+ private:
+  RoboRioUserVoltage6VSource m_voltage;
+  RoboRioUserCurrent6VSource m_current;
+  RoboRioUserActive6VSource m_active;
+  RoboRioUserFaults6VSource m_faults;
+};
+
+class RoboRioUser5VRailSimModel : public glass::RoboRioRailModel {
+ public:
+  void Update() override {}
+  bool Exists() override { return true; }
+  glass::DataSource* GetVoltageData() override { return &m_voltage; }
+  glass::DataSource* GetCurrentData() override { return &m_current; }
+  glass::DataSource* GetActiveData() override { return &m_active; }
+  glass::DataSource* GetFaultsData() override { return &m_faults; }
+
+  void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage5V(val); }
+  void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent5V(val); }
+  void SetActive(bool val) override { HALSIM_SetRoboRioUserActive5V(val); }
+  void SetFaults(int val) override { HALSIM_SetRoboRioUserFaults5V(val); }
+
+ private:
+  RoboRioUserVoltage5VSource m_voltage;
+  RoboRioUserCurrent5VSource m_current;
+  RoboRioUserActive5VSource m_active;
+  RoboRioUserFaults5VSource m_faults;
+};
+
+class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
+ public:
+  void Update() override {}
+  bool Exists() override { return true; }
+  glass::DataSource* GetVoltageData() override { return &m_voltage; }
+  glass::DataSource* GetCurrentData() override { return &m_current; }
+  glass::DataSource* GetActiveData() override { return &m_active; }
+  glass::DataSource* GetFaultsData() override { return &m_faults; }
+
+  void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage3V3(val); }
+  void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent3V3(val); }
+  void SetActive(bool val) override { HALSIM_SetRoboRioUserActive3V3(val); }
+  void SetFaults(int val) override { HALSIM_SetRoboRioUserFaults3V3(val); }
+
+ private:
+  RoboRioUserVoltage3V3Source m_voltage;
+  RoboRioUserCurrent3V3Source m_current;
+  RoboRioUserActive3V3Source m_active;
+  RoboRioUserFaults3V3Source m_faults;
+};
+
+class RoboRioSimModel : public glass::RoboRioModel {
+ public:
+  void Update() override {}
+
+  bool Exists() override { return true; }
+
+  glass::RoboRioRailModel* GetUser6VRail() override { return &m_user6VRail; }
+  glass::RoboRioRailModel* GetUser5VRail() override { return &m_user5VRail; }
+  glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
+
+  glass::DataSource* GetUserButton() override { return &m_userButton; }
+  glass::DataSource* GetVInVoltageData() override { return &m_vInVoltage; }
+  glass::DataSource* GetVInCurrentData() override { return &m_vInCurrent; }
+
+  void SetUserButton(bool val) override { HALSIM_SetRoboRioFPGAButton(val); }
+  void SetVInVoltage(double val) override { HALSIM_SetRoboRioVInVoltage(val); }
+  void SetVInCurrent(double val) override { HALSIM_SetRoboRioVInCurrent(val); }
+
+ private:
+  RoboRioFPGAButtonSource m_userButton;
+  RoboRioVInVoltageSource m_vInVoltage;
+  RoboRioVInCurrentSource m_vInCurrent;
+  RoboRioUser6VRailSimModel m_user6VRail;
+  RoboRioUser5VRailSimModel m_user5VRail;
+  RoboRioUser3V3RailSimModel m_user3V3Rail;
+};
+}  // namespace
+
+void RoboRioSimGui::Initialize() {
+  HALSimGui::halProvider.Register(
+      "RoboRIO", [] { return true; },
+      [] { return std::make_unique<RoboRioSimModel>(); },
+      [](glass::Window* win, glass::Model* model) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        win->SetDefaultPos(5, 125);
+        return glass::MakeFunctionView(
+            [=] { DisplayRoboRio(static_cast<RoboRioSimModel*>(model)); });
+      });
+}