[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/main.cpp

@@ -5,71 +5,118 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <glass/Context.h>
+#include <glass/other/Plot.h>
+
 #include <hal/Extensions.h>
 #include <hal/Main.h>
+#include <imgui.h>
 #include <wpi/StringRef.h>
 #include <wpi/raw_ostream.h>
+#include <wpigui.h>
 
-#include "AccelerometerGui.h"
+#include "AccelerometerSimGui.h"
 #include "AddressableLEDGui.h"
-#include "AnalogGyroGui.h"
-#include "AnalogInputGui.h"
-#include "AnalogOutGui.h"
-#include "CompressorGui.h"
-#include "DIOGui.h"
+#include "AnalogGyroSimGui.h"
+#include "AnalogInputSimGui.h"
+#include "AnalogOutputSimGui.h"
+#include "DIOSimGui.h"
 #include "DriverStationGui.h"
-#include "EncoderGui.h"
-#include "Field2D.h"
+#include "EncoderSimGui.h"
 #include "HALSimGui.h"
 #include "Mechanism2D.h"
-#include "NetworkTablesGui.h"
-#include "PDPGui.h"
-#include "PWMGui.h"
-#include "PlotGui.h"
-#include "RelayGui.h"
-#include "RoboRioGui.h"
+#include "NetworkTablesSimGui.h"
+#include "PCMSimGui.h"
+#include "PDPSimGui.h"
+#include "PWMSimGui.h"
+#include "RelaySimGui.h"
+#include "RoboRioSimGui.h"
 #include "SimDeviceGui.h"
-#include "SolenoidGui.h"
 #include "TimingGui.h"
 
 using namespace halsimgui;
 
+namespace gui = wpi::gui;
+
+static glass::PlotProvider gPlotProvider{"Plot"};
+
 extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
     int HALSIM_InitExtension(void) {
-  HALSimGui::GlobalInit();
-  HALSimGui::Add(AccelerometerGui::Initialize);
-  HALSimGui::Add(AddressableLEDGui::Initialize);
-  HALSimGui::Add(AnalogGyroGui::Initialize);
-  HALSimGui::Add(AnalogInputGui::Initialize);
-  HALSimGui::Add(AnalogOutGui::Initialize);
-  HALSimGui::Add(CompressorGui::Initialize);
-  HALSimGui::Add(DriverStationGui::Initialize);
-  HALSimGui::Add(DIOGui::Initialize);
-  HALSimGui::Add(EncoderGui::Initialize);
-  HALSimGui::Add(Field2D::Initialize);
-  HALSimGui::Add(Mechanism2D::Initialize);
-  HALSimGui::Add(NetworkTablesGui::Initialize);
-  HALSimGui::Add(PDPGui::Initialize);
-  HALSimGui::Add(PlotGui::Initialize);
-  HALSimGui::Add(PWMGui::Initialize);
-  HALSimGui::Add(RelayGui::Initialize);
-  HALSimGui::Add(RoboRioGui::Initialize);
-  HALSimGui::Add(SimDeviceGui::Initialize);
-  HALSimGui::Add(SolenoidGui::Initialize);
-  HALSimGui::Add(TimingGui::Initialize);
-
   wpi::outs() << "Simulator GUI Initializing.\n";
-  if (!HALSimGui::Initialize()) return 0;
+
+  gui::CreateContext();
+  glass::CreateContext();
+  HALSimGui::GlobalInit();
+  DriverStationGui::GlobalInit();
+  gPlotProvider.GlobalInit();
+
+  // These need to initialize first
+  gui::AddInit(EncoderSimGui::Initialize);
+  gui::AddInit(SimDeviceGui::Initialize);
+
+  gui::AddInit(AccelerometerSimGui::Initialize);
+  gui::AddInit(AddressableLEDGui::Initialize);
+  gui::AddInit(AnalogGyroSimGui::Initialize);
+  gui::AddInit(AnalogInputSimGui::Initialize);
+  gui::AddInit(AnalogOutputSimGui::Initialize);
+  gui::AddInit(DIOSimGui::Initialize);
+  gui::AddInit(Mechanism2D::Initialize);
+  gui::AddInit(NetworkTablesSimGui::Initialize);
+  gui::AddInit(PCMSimGui::Initialize);
+  gui::AddInit(PDPSimGui::Initialize);
+  gui::AddInit(PWMSimGui::Initialize);
+  gui::AddInit(RelaySimGui::Initialize);
+  gui::AddInit(RoboRioSimGui::Initialize);
+  gui::AddInit(TimingGui::Initialize);
+
+  HALSimGui::mainMenu.AddMainMenu([] {
+    if (ImGui::BeginMenu("Hardware")) {
+      HALSimGui::halProvider.DisplayMenu();
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("NetworkTables")) {
+      NetworkTablesSimGui::DisplayMenu();
+      ImGui::Separator();
+      HALSimGui::ntProvider.DisplayMenu();
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("DS")) {
+      DriverStationGui::dsManager.DisplayMenu();
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("Plot")) {
+      bool paused = gPlotProvider.IsPaused();
+      if (ImGui::MenuItem("Pause All Plots", nullptr, &paused)) {
+        gPlotProvider.SetPaused(paused);
+      }
+      ImGui::Separator();
+      gPlotProvider.DisplayMenu();
+      ImGui::EndMenu();
+    }
+    if (ImGui::BeginMenu("Window")) {
+      HALSimGui::manager.DisplayMenu();
+      ImGui::EndMenu();
+    }
+  });
+
+  if (!gui::Initialize("Robot Simulation", 1280, 720)) return 0;
   HAL_RegisterExtensionListener(
       nullptr, [](void*, const char* name, void* data) {
         if (wpi::StringRef{name} == "ds_socket") {
           DriverStationGui::SetDSSocketExtension(data);
         }
       });
-  HAL_SetMain(nullptr, HALSimGui::Main, HALSimGui::Exit);
+  HAL_SetMain(
+      nullptr,
+      [](void*) {
+        gui::Main();
+        glass::DestroyContext();
+        gui::DestroyContext();
+      },
+      [](void*) { gui::Exit(); });
   wpi::outs() << "Simulator GUI Initialized!\n";
 
   return 0;