[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/SimDeviceGui.h

@@ -7,103 +7,20 @@
 
 #pragma once
 
-#include <stdint.h>
+#include <hal/SimDevice.h>
 
-#include <hal/Types.h>
-#include <hal/Value.h>
-
-#ifdef __cplusplus
-#include <functional>
-
-#include <imgui.h>
-#endif
-
-extern "C" {
-
-void HALSIMGUI_DeviceTreeHide(const char* name);
-void HALSIMGUI_DeviceTreeAdd(void* param, void (*execute)(void*));
-HAL_Bool HALSIMGUI_DeviceTreeDisplayValue(const char* name, HAL_Bool readonly,
-                                          struct HAL_Value* value,
-                                          const char** options,
-                                          int32_t numOptions);
-HAL_Bool HALSIMGUI_DeviceTreeStartDevice(const char* label, int32_t flags);
-void HALSIMGUI_DeviceTreeFinishDevice(void);
-
-}  // extern "C"
-
-#ifdef __cplusplus
+namespace glass {
+class DataSource;
+class DeviceTreeModel;
+}  // namespace glass
 
 namespace halsimgui {
 
-class GuiDataSource;
-
 class SimDeviceGui {
  public:
   static void Initialize();
-
-  /**
-   * Hides device on tree.
-   *
-   * @param name device name
-   */
-  static void Hide(const char* name);
-
-  /**
-   * Adds device to tree.  The execute function is called from within the
-   * device tree window context on every frame, so it should implement an
-   * TreeNodeEx() block for each device to display.
-   *
-   * @param execute execute function
-   */
-  static void Add(std::function<void()> execute);
-
-  /**
-   * Displays device value formatted the same way as SimDevice device values.
-   *
-   * @param name value name
-   * @param readonly prevent value from being modified by the user
-   * @param value value contents (modified in place)
-   * @param options options array for enum values
-   * @param numOptions size of options array for enum values
-   * @return True if value was modified by the user
-   */
-  static bool DisplayValue(const char* name, bool readonly, HAL_Value* value,
-                           const char** options = nullptr,
-                           int32_t numOptions = 0);
-
-  /**
-   * Displays device value formatted the same way as SimDevice device values.
-   *
-   * @param name value name
-   * @param readonly prevent value from being modified by the user
-   * @param value value contents (modified in place)
-   * @param source data source (may be nullptr)
-   * @param options options array for enum values
-   * @param numOptions size of options array for enum values
-   * @return True if value was modified by the user
-   */
-  static bool DisplayValueSource(const char* name, bool readonly,
-                                 HAL_Value* value, const GuiDataSource* source,
-                                 const char** options = nullptr,
-                                 int32_t numOptions = 0);
-
-  /**
-   * Wraps ImGui::CollapsingHeader() to provide consistency and open
-   * persistence.  As with the ImGui function, returns true if the tree node
-   * is expanded.  If returns true, call StopDevice() to finish the block.
-   *
-   * @param label label
-   * @param flags ImGuiTreeNodeFlags flags
-   * @return True if expanded
-   */
-  static bool StartDevice(const char* label, ImGuiTreeNodeFlags flags = 0);
-
-  /**
-   * Finish a device block started with StartDevice().
-   */
-  static void FinishDevice();
+  static glass::DataSource* GetValueSource(HAL_SimValueHandle handle);
+  static glass::DeviceTreeModel& GetDeviceTree();
 };
 
 }  // namespace halsimgui
-
-#endif  // __cplusplus