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[glass] Add glass: an application for display of robot data

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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
2020-09-12 10:55:46 -07:00
parent 727940d847
commit 2a5ca77454
151 changed files with 10386 additions and 4565 deletions
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121
simulation/halsim_gui/src/main/native/include/HALDataSource.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <glass/DataSource.h>
#define HALSIMGUI_DATASOURCE(cbname, id, TYPE, vtype) \
class cbname##Source : public ::glass::DataSource { \
public: \
cbname##Source() \
: DataSource(id), \
m_callback{ \
HALSIM_Register##cbname##Callback(CallbackFunc, this, true)} { \
SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
} \
\
~cbname##Source() { \
if (m_callback != 0) HALSIM_Cancel##cbname##Callback(m_callback); \
} \
\
private: \
static void CallbackFunc(const char*, void* param, \
const HAL_Value* value) { \
if (value->type == HAL_##TYPE) \
static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
} \
\
int32_t m_callback; \
}
#define HALSIMGUI_DATASOURCE_BOOLEAN(cbname, id) \
HALSIMGUI_DATASOURCE(cbname, id, BOOLEAN, boolean)
#define HALSIMGUI_DATASOURCE_DOUBLE(cbname, id) \
HALSIMGUI_DATASOURCE(cbname, id, DOUBLE, double)
#define HALSIMGUI_DATASOURCE_INT(cbname, id) \
HALSIMGUI_DATASOURCE(cbname, id, INT, int)
#define HALSIMGUI_DATASOURCE_INDEXED(cbname, id, TYPE, vtype) \
class cbname##Source : public ::glass::DataSource { \
public: \
explicit cbname##Source(int32_t index, int channel = -1) \
: DataSource(id, channel < 0 ? index : channel), \
m_index{index}, \
m_channel{channel < 0 ? index : channel}, \
m_callback{HALSIM_Register##cbname##Callback(index, CallbackFunc, \
this, true)} { \
SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
} \
\
~cbname##Source() { \
if (m_callback != 0) \
HALSIM_Cancel##cbname##Callback(m_index, m_callback); \
} \
\
int32_t GetIndex() const { return m_index; } \
\
int GetChannel() const { return m_channel; } \
\
private: \
static void CallbackFunc(const char*, void* param, \
const HAL_Value* value) { \
if (value->type == HAL_##TYPE) \
static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
} \
\
int32_t m_index; \
int m_channel; \
int32_t m_callback; \
}
#define HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(cbname, id) \
HALSIMGUI_DATASOURCE_INDEXED(cbname, id, BOOLEAN, boolean)
#define HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(cbname, id) \
HALSIMGUI_DATASOURCE_INDEXED(cbname, id, DOUBLE, double)
#define HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, TYPE, vtype) \
class cbname##Source : public ::glass::DataSource { \
public: \
explicit cbname##Source(int32_t index, int32_t channel) \
: DataSource(id, index, channel), \
m_index{index}, \
m_channel{channel}, \
m_callback{HALSIM_Register##cbname##Callback( \
index, channel, CallbackFunc, this, true)} { \
SetDigital(HAL_##TYPE == HAL_BOOLEAN); \
} \
\
~cbname##Source() { \
if (m_callback != 0) \
HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback); \
} \
\
int32_t GetIndex() const { return m_index; } \
\
int32_t GetChannel() const { return m_channel; } \
\
private: \
static void CallbackFunc(const char*, void* param, \
const HAL_Value* value) { \
if (value->type == HAL_##TYPE) \
static_cast<cbname##Source*>(param)->SetValue(value->data.v_##vtype); \
} \
\
int32_t m_index; \
int32_t m_channel; \
int32_t m_callback; \
}
#define HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(cbname, id) \
HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, BOOLEAN, boolean)
#define HALSIMGUI_DATASOURCE_DOUBLE_INDEXED2(cbname, id) \
HALSIMGUI_DATASOURCE_INDEXED2(cbname, id, DOUBLE, double)