[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/include/HALSimGui.h

@@ -7,144 +7,23 @@
 
 #pragma once
 
-#ifdef __cplusplus
-#include <functional>
-#endif
+#include <glass/MainMenuBar.h>
+#include <glass/WindowManager.h>
+#include <glass/networktables/NetworkTablesProvider.h>
 
-extern "C" {
-
-void HALSIMGUI_Add(void* param, void (*initialize)(void*));
-void HALSIMGUI_AddExecute(void* param, void (*execute)(void*));
-void HALSIMGUI_AddWindow(const char* name, void* param, void (*display)(void*),
-                         int32_t flags);
-void HALSIMGUI_AddMainMenu(void* param, void (*menu)(void*));
-void HALSIMGUI_AddOptionMenu(void* param, void (*menu)(void*));
-void HALSIMGUI_SetWindowVisibility(const char* name, int32_t visibility);
-void HALSIMGUI_SetDefaultWindowPos(const char* name, float x, float y);
-void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
-                                    float height);
-void HALSIMGUI_SetWindowPadding(const char* name, float x, float y);
-int HALSIMGUI_AreOutputsDisabled(void);
-
-}  // extern "C"
-
-#ifdef __cplusplus
+#include "HALProvider.h"
 
 namespace halsimgui {
 
 class HALSimGui {
  public:
   static void GlobalInit();
-  static bool Initialize();
-  static void Main(void*);
-  static void Exit(void*);
 
-  /**
-   * Adds feature to GUI.  The initialize function is called once, immediately
-   * after the GUI (both GLFW and Dear ImGui) are initialized.
-   *
-   * @param initialize initialization function
-   * @param execute frame execution function
-   */
-  static void Add(std::function<void()> initialize);
+  static glass::MainMenuBar mainMenu;
+  static glass::WindowManager manager;
 
-  /**
-   * Adds per-frame executor to GUI.  The passed function is called on each
-   * Dear ImGui frame prior to window and menu functions.
-   *
-   * @param execute frame execution function
-   */
-  static void AddExecute(std::function<void()> execute);
-
-  /**
-   * Adds window to GUI.  The display function is called from within a
-   * ImGui::Begin()/End() block.  While windows can be created within the
-   * execute function passed to AddExecute(), using this function ensures the
-   * windows are consistently integrated with the rest of the GUI.
-   *
-   * On each Dear ImGui frame, AddExecute() functions are always called prior
-   * to AddWindow display functions.  Note that windows may be shaded or
-   * completely hidden, in which case this function will not be called.
-   * It's important to perform any processing steps that must be performed
-   * every frame in the AddExecute() function.
-   *
-   * @param name name of the window (title bar)
-   * @param display window contents display function
-   * @param flags Dear ImGui window flags
-   */
-  static void AddWindow(const char* name, std::function<void()> display,
-                        int flags = 0);
-
-  /**
-   * Adds to GUI's main menu bar.  The menu function is called from within a
-   * ImGui::BeginMainMenuBar()/EndMainMenuBar() block.  Usually it's only
-   * appropriate to create a menu with ImGui::BeginMenu()/EndMenu() inside of
-   * this function.
-   *
-   * On each Dear ImGui frame, AddExecute() functions are always called prior
-   * to AddMainMenu menu functions.
-   *
-   * @param menu menu display function
-   */
-  static void AddMainMenu(std::function<void()> menu);
-
-  /**
-   * Adds to GUI's option menu.  The menu function is called from within a
-   * ImGui::BeginMenu()/EndMenu() block.  Usually it's only appropriate to
-   * create menu items inside of this function.
-   *
-   * On each Dear ImGui frame, AddExecute() functions are always called prior
-   * to AddMainMenu menu functions.
-   *
-   * @param menu menu display function
-   */
-  static void AddOptionMenu(std::function<void()> menu);
-
-  enum WindowVisibility { kHide = 0, kShow, kDisabled };
-
-  /**
-   * Sets visibility of window added with AddWindow().
-   *
-   * @param name window name (same as name passed to AddWindow())
-   * @param visibility 0=hide, 1=show, 2=disabled (force-hide)
-   */
-  static void SetWindowVisibility(const char* name,
-                                  WindowVisibility visibility);
-
-  /**
-   * Sets default position of window added with AddWindow().
-   *
-   * @param name window name (same as name passed to AddWindow())
-   * @param x x location of upper left corner
-   * @param y y location of upper left corner
-   */
-  static void SetDefaultWindowPos(const char* name, float x, float y);
-
-  /**
-   * Sets default size of window added with AddWindow().
-   *
-   * @param name window name (same as name passed to AddWindow())
-   * @param width width
-   * @param height height
-   */
-  static void SetDefaultWindowSize(const char* name, float width, float height);
-
-  /**
-   * Sets internal padding of window added with AddWindow().
-   * @param name window name (same as name passed to AddWindow())
-   * @param x horizontal padding
-   * @param y vertical padding
-   */
-  static void SetWindowPadding(const char* name, float x, float y);
-
-  /**
-   * Returns true if outputs are disabled.
-   *
-   * @return true if outputs are disabled, false otherwise.
-   */
-  static bool AreOutputsDisabled();
+  static HALProvider halProvider;
+  static glass::NetworkTablesProvider ntProvider;
 };
 
 }  // namespace halsimgui
-
-#endif  // __cplusplus